i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-07 02:07:45 +08:00
Code Issues Packages Projects Releases Wiki Activity

Lyrical support (#1433)

Browse Source 
* Lyrical support

* removed dep not available on lyrical

* updated docker lyrcical

* making cmake less verbose, disabled tests on rtabmap_python

* cleanup not used tests in rtabmap_python

* addressing some lyrical deprecated warnings

* cancel pr jobs on recommit

* small refactor

* disabled lyrical bin docker

* restored python test and fixed error

* trigger ci

* fixing docker lyrical

* disabled rtabmap_ros lyrical

* pytest

* fixing packages-skip

* bump 0.23.7
This commit is contained in:
matlabbe
2026-06-21 12:55:28 -07:00
committed by GitHub
parent 01711324b7
commit 2eef2b3231
58 changed files with 311 additions and 77 deletions
Download Patch File Download Diff File Expand all files Collapse all files
rtabmap_slam/src/CoreWrapper.cpp
+6 -2
View File
@@ -770,10 +770,14 @@ CoreWrapper::CoreWrapper(const rclcpp::NodeOptions & options) :
Parameters::kRGBDEnabled().c_str(),
Parameters::kRGBDEnabled().c_str());
}
image_transport::TransportHints hints(this); // using "image_transport" parameter
std::string imageTopic = this->get_node_topics_interface()->resolve_topic_name("image"); // Humble/Jazzy don't resolve base topic, fixed by https://github.com/ros-perception/image_common/commit/ea7589ae8c1f7ecb83d6aab7b4c890c2d630d27a
#ifdef PRE_ROS_LYRICAL
image_transport::TransportHints hints(this); // using "image_transport" parameter
defaultSub_ = image_transport::create_subscription(this, imageTopic, std::bind(&CoreWrapper::defaultCallback, this, std::placeholders::_1), hints.getTransport(), rclcpp::QoS(this->getTopicQueueSize()).reliability((rmw_qos_reliability_policy_t)qosImage_).get_rmw_qos_profile(), subOptions);
#else
image_transport::TransportHints hints(*this); // using "image_transport" parameter
defaultSub_ = image_transport::create_subscription(*this, imageTopic, std::bind(&CoreWrapper::defaultCallback, this, std::placeholders::_1), hints.getTransport(), rclcpp::QoS(this->getTopicQueueSize()).reliability((rmw_qos_reliability_policy_t)qosImage_), subOptions);
#endif
RCLCPP_INFO(this->get_logger(), "\n%s subscribed to:\n %s", get_name(), defaultSub_.getTopic().c_str());
}