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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/stereo_sync.cpp
+3 -3
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@@ -42,7 +42,6 @@ namespace rtabmap_sync
StereoSync::StereoSync(const rclcpp::NodeOptions & options) :
Node("stereo_sync", options),
SyncDiagnostic(this),
compressedRate_(0),
approxSync_(0),
exactSync_(0)
@@ -98,7 +97,8 @@ StereoSync::StereoSync(const rclcpp::NodeOptions & options) :
RCLCPP_INFO(this->get_logger(), "%s", subscribedTopicsMsg.c_str());
initDiagnostic(imageLeftSub_.getSubscriber().getTopic(),
syncDiagnostic_.reset(new SyncDiagnostic(this));
syncDiagnostic_->init(imageLeftSub_.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",
@@ -120,7 +120,7 @@ void StereoSync::callback(
const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfoLeft,
const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfoRight)
{
tick(imageLeft->header.stamp);
syncDiagnostic_->tick(imageLeft->header.stamp);
if(rgbdImagePub_->get_subscription_count() || rgbdImageCompressedPub_->get_subscription_count())
{
double leftStamp = rtabmap_conversions::timestampFromROS(imageLeft->header.stamp);