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rgb_transport and depth_transport params (#1282)

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This commit is contained in:
Ray Ferric
2025-03-15 18:24:29 -07:00
committed by GitHub
parent d9564b35b1
commit 379b5ca47a
1 changed files with 17 additions and 4 deletions
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rtabmap_odom/src/nodelets/rgbd_odometry.cpp
+17 -4
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@@ -113,6 +113,8 @@ void RGBDOdometry::onOdomInit()
rgbdCameras = 0; rgbdCameras = 0;
} }
keepColor_ = this->declare_parameter("keep_color", keepColor_); keepColor_ = this->declare_parameter("keep_color", keepColor_);
std::string rgbdTransport = this->declare_parameter("rgb_transport", std::string("raw"));
std::string depthTransport = this->declare_parameter("depth_transport", std::string("raw"));
RCLCPP_INFO(this->get_logger(), "RGBDOdometry: approx_sync = %s", approxSync?"true":"false"); RCLCPP_INFO(this->get_logger(), "RGBDOdometry: approx_sync = %s", approxSync?"true":"false");
if(approxSync) if(approxSync)
@@ -124,6 +126,8 @@ void RGBDOdometry::onOdomInit()
RCLCPP_INFO(this->get_logger(), "RGBDOdometry: subscribe_rgbd = %s", subscribeRGBD?"true":"false"); RCLCPP_INFO(this->get_logger(), "RGBDOdometry: subscribe_rgbd = %s", subscribeRGBD?"true":"false");
RCLCPP_INFO(this->get_logger(), "RGBDOdometry: rgbd_cameras = %d", rgbdCameras); RCLCPP_INFO(this->get_logger(), "RGBDOdometry: rgbd_cameras = %d", rgbdCameras);
RCLCPP_INFO(this->get_logger(), "RGBDOdometry: keep_color = %s", keepColor_?"true":"false"); RCLCPP_INFO(this->get_logger(), "RGBDOdometry: keep_color = %s", keepColor_?"true":"false");
RCLCPP_INFO(this->get_logger(), "RGBDOdometry: rgb_transport = %s", rgbdTransport.c_str());
RCLCPP_INFO(this->get_logger(), "RGBDOdometry: depth_transport = %s", depthTransport.c_str());
rclcpp::SubscriptionOptions options; rclcpp::SubscriptionOptions options;
options.callback_group = dataCallbackGroup_; options.callback_group = dataCallbackGroup_;
@@ -350,10 +354,19 @@ void RGBDOdometry::onOdomInit()
} }
else else
{ {
image_transport::TransportHints hints(this); image_transport::TransportHints rgb_hints(this, "raw", "rgb_transport");
image_mono_sub_.subscribe(this, "rgb/image", hints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qos()).get_rmw_qos_profile(), options); image_transport::TransportHints depth_hints(this, "raw", "depth_transport");
image_depth_sub_.subscribe(this, "depth/image", hints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qos()).get_rmw_qos_profile(), options);
info_sub_.subscribe(this, "rgb/camera_info", rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qosCamInfo).get_rmw_qos_profile(), options); std::string rgb_topic = get_node_base_interface()->resolve_topic_or_service_name(
"rgb/image", false, false
);
std::string depth_topic = get_node_base_interface()->resolve_topic_or_service_name(
"depth/image", false, false
);
image_mono_sub_.subscribe(this, rgb_topic, rgb_hints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qos()).get_rmw_qos_profile(), options);
image_depth_sub_.subscribe(this, depth_topic, depth_hints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qos()).get_rmw_qos_profile(), options);
info_sub_.subscribe(this, "rgb/camera_info", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qosCamInfo).get_rmw_qos_profile());
if(approxSync) if(approxSync)
{ {