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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/rgbdx_sync.cpp
+13 -12
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@@ -34,7 +34,6 @@ namespace rtabmap_sync
RGBDXSync::RGBDXSync(const rclcpp::NodeOptions & options) :
Node("rgbd_sync", options),
SyncDiagnostic(this),
SYNC_INIT(rgbd2),
SYNC_INIT(rgbd3),
SYNC_INIT(rgbd4),
@@ -131,18 +130,20 @@ RGBDXSync::RGBDXSync(const rclcpp::NodeOptions & options) :
}
}
RCLCPP_INFO(this->get_logger(), "%s%s", subscribedTopicsMsg_.c_str(),
approxSync&&approxSyncMaxInterval!=0.0?uFormat(" (approx sync max interval=%fs)", approxSyncMaxInterval).c_str():"");
std::string subscribedTopicsMsg = uFormat("%s%s", subscribedTopicsMsg_.c_str(),
approxSync&&approxSyncMaxInterval!=0.0?uFormat(" (approx sync max interval=%fs)", approxSyncMaxInterval).c_str():"");
RCLCPP_INFO(this->get_logger(), subscribedTopicsMsg.c_str());
// Setup diagnostic
initDiagnostic("",
syncDiagnostic_.reset(new SyncDiagnostic(this));
syncDiagnostic_->init("",
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()));
subscribedTopicsMsg.c_str()));
}
RGBDXSync::~RGBDXSync()
@@ -160,7 +161,7 @@ void RGBDXSync::rgbd2Callback(
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image0,
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image1)
{
tick(image0->header.stamp);
syncDiagnostic_->tick(image0->header.stamp);
rtabmap_msgs::msg::RGBDImages output;
output.header = image0->header;
output.rgbd_images.resize(2);
@@ -174,7 +175,7 @@ void RGBDXSync::rgbd3Callback(
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image1,
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image2)
{
tick(image0->header.stamp);
syncDiagnostic_->tick(image0->header.stamp);
rtabmap_msgs::msg::RGBDImages output;
output.header = image0->header;
output.rgbd_images.resize(3);
@@ -190,7 +191,7 @@ void RGBDXSync::rgbd4Callback(
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image2,
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image3)
{
tick(image0->header.stamp);
syncDiagnostic_->tick(image0->header.stamp);
rtabmap_msgs::msg::RGBDImages output;
output.header = image0->header;
output.rgbd_images.resize(4);
@@ -208,7 +209,7 @@ void RGBDXSync::rgbd5Callback(
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image3,
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image4)
{
tick(image0->header.stamp);
syncDiagnostic_->tick(image0->header.stamp);
rtabmap_msgs::msg::RGBDImages output;
output.header = image0->header;
output.rgbd_images.resize(5);
@@ -228,7 +229,7 @@ void RGBDXSync::rgbd6Callback(
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image4,
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image5)
{
tick(image0->header.stamp);
syncDiagnostic_->tick(image0->header.stamp);
rtabmap_msgs::msg::RGBDImages output;
output.header = image0->header;
output.rgbd_images.resize(6);
@@ -250,7 +251,7 @@ void RGBDXSync::rgbd7Callback(
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image5,
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image6)
{
tick(image0->header.stamp);
syncDiagnostic_->tick(image0->header.stamp);
rtabmap_msgs::msg::RGBDImages output;
output.header = image0->header;
output.rgbd_images.resize(7);
@@ -274,7 +275,7 @@ void RGBDXSync::rgbd8Callback(
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image6,
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image7)
{
tick(image0->header.stamp);
syncDiagnostic_->tick(image0->header.stamp);
rtabmap_msgs::msg::RGBDImages output;
output.header = image0->header;
output.rgbd_images.resize(8);