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merged master->ros2

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This commit is contained in:
matlabbe
2023-11-19 17:14:24 -08:00
parent 76e83081a7 67de27b1ee
commit 399fb33310
31 changed files with 1148 additions and 295 deletions
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rtabmap_odom/include/rtabmap_odom/OdometryROS.h
+9 -1
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@@ -59,7 +59,7 @@ class Odometry;
namespace rtabmap_odom {
class OdometryROS : public rclcpp::Node, public rtabmap_sync::SyncDiagnostic
class OdometryROS : public rclcpp::Node
{
public:
@@ -119,6 +119,7 @@ private:
bool publishTf_;
double waitForTransform_;
bool publishNullWhenLost_;
bool publishCompressedSensorData_;
rmw_qos_reliability_policy_t qos_;
rtabmap::ParametersMap parameters_;
@@ -129,6 +130,9 @@ private:
rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr odomLocalScanMap_;
rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr odomLastFrame_;
rclcpp::Publisher<rtabmap_msgs::msg::RGBDImage>::SharedPtr odomRgbdImagePub_;
rclcpp::Publisher<rtabmap_msgs::msg::SensorData>::SharedPtr odomSensorDataPub_;
rclcpp::Publisher<rtabmap_msgs::msg::SensorData>::SharedPtr odomSensorDataFeaturesPub_;
rclcpp::Publisher<rtabmap_msgs::msg::SensorData>::SharedPtr odomSensorDataCompressedPub_;
rclcpp::Service<std_srvs::srv::Empty>::SharedPtr resetSrv_;
rclcpp::Service<rtabmap_msgs::srv::ResetPose>::SharedPtr resetToPoseSrv_;
@@ -156,6 +160,8 @@ private:
double expectedUpdateRate_;
double maxUpdateRate_;
double minUpdateRate_;
std::string compressionImgFormat_;
bool compressionParallelized_;
int odomStrategy_;
bool waitIMUToinit_;
bool imuProcessed_;
@@ -174,8 +180,10 @@ private:
void run(diagnostic_updater::DiagnosticStatusWrapper &stat);
private:
bool lost_;
bool dataReceived_;
};
OdomStatusTask statusDiagnostic_;
std::unique_ptr<rtabmap_sync::SyncDiagnostic> syncDiagnostic_;
};
}