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Merged master -> ros2

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matlabbe
2021-10-06 10:09:00 -04:00
parent 0dabd21fda 6ac2dcd918
commit 2f58aba80d
3 changed files with 11 additions and 4 deletions
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src/impl/CommonDataSubscriberRGBD.cpp
+8 -1
View File
@@ -543,7 +543,14 @@ void CommonDataSubscriber::setupRGBDCallbacks(
{
RCLCPP_INFO(node.get_logger(), "Setup rgbd callback");
if(subscribeOdom || subscribeUserData || subscribeScan2d || subscribeScan3d || subscribeOdomInfo)
if(subscribeOdom ||
#ifdef RTABMAP_SYNC_USER_DATA
subscribeUserData ||
#endif
subscribeScan2d ||
subscribeScan3d ||
subscribeScanDesc ||
subscribeOdomInfo)
{
rgbdSubs_.resize(1);
rgbdSubs_[0] = new message_filters::Subscriber<rtabmap_ros::msg::RGBDImage>;
src/nodelets/point_cloud_xyzrgb.cpp
+1 -1
View File
@@ -333,7 +333,7 @@ void PointCloudXYZRGB::stereoCallback(
imageRight->encoding.compare(sensor_msgs::image_encodings::RGBA8) == 0 ||
imageRight->encoding.compare(sensor_msgs::image_encodings::BGRA8) == 0))
{
RCLCPP_ERROR(this->get_logger(), "Input type must be image=mono8,mono16,rgb8,bgr8 (enc=%s)", imageLeft->encoding.c_str());
RCLCPP_ERROR(this->get_logger(), "Input type must be image=mono8,mono16,rgb8,bgr8,rgba8,bgra8 (enc=%s)", imageLeft->encoding.c_str());
return;
}