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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_sync/src/nodelets/rgbd_sync.cpp
+10 -10
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@@ -43,7 +43,6 @@ namespace rtabmap_sync
RGBDSync::RGBDSync(const rclcpp::NodeOptions & options) :
Node("rgbd_sync", options),
SyncDiagnostic(this),
depthScale_(1.0),
decimation_(1),
compressedRate_(0),
@@ -109,14 +108,15 @@ RGBDSync::RGBDSync(const rclcpp::NodeOptions & options) :
RCLCPP_INFO(this->get_logger(), "%s", subscribedTopicsMsg.c_str());
initDiagnostic(imageSub_.getSubscriber().getTopic(),
uFormat("%s: Did not receive data since 5 seconds! Make sure the input topics are "
"published (\"$ rostopic hz my_topic\") and the timestamps in their "
"header are set. %s%s",
get_name(),
approxSync?"":"Parameter \"approx_sync\" is false, which means that input "
"topics should have all the exact timestamp for the callback to be called.",
subscribedTopicsMsg.c_str()));
syncDiagnostic_.reset(new SyncDiagnostic(this));
syncDiagnostic_->init(imageSub_.getSubscriber().getTopic(),
uFormat("%s: Did not receive data since 5 seconds! Make sure the input topics are "
"published (\"$ rostopic hz my_topic\") and the timestamps in their "
"header are set. %s%s",
get_name(),
approxSync?"":"Parameter \"approx_sync\" is false, which means that input "
"topics should have all the exact timestamp for the callback to be called.",
subscribedTopicsMsg.c_str()));
}
RGBDSync::~RGBDSync()
@@ -130,7 +130,7 @@ void RGBDSync::callback(
const sensor_msgs::msg::Image::ConstSharedPtr depth,
const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfo)
{
tick(image->header.stamp);
syncDiagnostic_->tick(image->header.stamp);
if(rgbdImagePub_->get_subscription_count() || rgbdImageCompressedPub_->get_subscription_count())
{
double rgbStamp = rtabmap_conversions::timestampFromROS(image->header.stamp);