merged master->ros2

2026-10-05 09:17:47 +08:00 · 2023-11-19 17:14:24 -08:00
parent 76e83081a7 67de27b1ee
commit 399fb33310
31 changed files with 1148 additions and 295 deletions
@@ -0,0 +1,114 @@
+/*
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#include <rtabmap_sync/CommonDataSubscriber.h>
+#include <rtabmap/utilite/UConversion.h>
+#include <rtabmap/core/Compression.h>
+#include <rtabmap_conversions/MsgConversion.h>
+#include <cv_bridge/cv_bridge.h>
+
+namespace rtabmap_sync {
+
+// SensorData
+void CommonDataSubscriber::sensorDataCallback(
+		const rtabmap_msgs::msg::SensorData::ConstSharedPtr imagesMsg)
+{
+	nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // Null
+	rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg; // null
+	commonSensorDataCallback(imagesMsg, odomMsg, odomInfoMsg);
+}
+void CommonDataSubscriber::sensorDataInfoCallback(
+		const rtabmap_msgs::msg::SensorData::ConstSharedPtr imagesMsg,
+		const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg)
+{
+	nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // Null
+	commonSensorDataCallback(imagesMsg, odomMsg, odomInfoMsg);
+}
+// SensorData + Odom
+void CommonDataSubscriber::sensorDataOdomCallback(
+		const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
+		const rtabmap_msgs::msg::SensorData::ConstSharedPtr imagesMsg)
+{
+	rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg; // null
+	commonSensorDataCallback(imagesMsg, odomMsg, odomInfoMsg);
+}
+void CommonDataSubscriber::sensorDataOdomInfoCallback(
+		const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
+		const rtabmap_msgs::msg::SensorData::ConstSharedPtr imagesMsg,
+		const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg)
+{
+	commonSensorDataCallback(imagesMsg, odomMsg, odomInfoMsg);
+}
+
+void CommonDataSubscriber::setupSensorDataCallbacks(
+		rclcpp::Node& node,
+		bool subscribeOdom,
+		bool subscribeOdomInfo,
+		int queueSize,
+		bool approxSync)
+{
+	RCLCPP_INFO(node.get_logger(), "Setup SensorData callback");
+
+	sensorDataSub_.subscribe(&node, "sensor_data", rclcpp::QoS(1).reliability(qosSensorData_).get_rmw_qos_profile());
+	if(subscribeOdom)
+	{
+		odomSub_.subscribe(&node, "odom", rclcpp::QoS(1).reliability(qosOdom_).get_rmw_qos_profile());
+		if(subscribeOdomInfo)
+		{
+			subscribedToOdomInfo_ = true;
+			odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(1).reliability(qosOdom_).get_rmw_qos_profile());
+			SYNC_DECL3(CommonDataSubscriber, sensorDataOdomInfo, approxSync, queueSize, odomSub_, sensorDataSub_, odomInfoSub_);
+
+		}
+		else
+		{
+			SYNC_DECL2(CommonDataSubscriber, sensorDataOdom, approxSync, queueSize, odomSub_, sensorDataSub_);
+		}
+	}
+	else
+	{
+		if(subscribeOdomInfo)
+		{
+			subscribedToOdomInfo_ = true;
+			odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(1).reliability(qosOdom_).get_rmw_qos_profile());
+			SYNC_DECL2(CommonDataSubscriber, sensorDataInfo, approxSync, queueSize, sensorDataSub_, odomInfoSub_);
+		}
+		else
+		{
+			sensorDataSub_.unsubscribe();
+			sensorDataSubOnly_ = node.create_subscription<rtabmap_msgs::msg::SensorData>("sensor_data", rclcpp::QoS(1).reliability(qosSensorData_), std::bind(&CommonDataSubscriber::sensorDataCallback, this, std::placeholders::_1));
+
+			subscribedTopicsMsg_ =
+					uFormat("\n%s subscribed to:\n   %s",
+					node.get_name(),
+					sensorDataSubOnly_->get_topic_name());
+
+		}
+	}
+}
+
+} /* namespace rtabmap_sync */