i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-06 09:47:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

ROS2 various QOL updates (preparing new binary release) (#1225)

Browse Source 
* Updating examples and README

* updated main readme

* odom: Added always_check_imu_tf parameter. sync: increased default sync_queue_size from 2 to 5 (to be more flexible to different hardware), added input and output diagnostics. rtabmap_viz: fixed node with same name redeclared warning.

* update readme

* Added husky demo

* converted demo_robot_mapping.launch to ros2

* Converted stereo_outdoor demo from ros1 to ros2

* Converted multi-session demo to ros2

* Converted demo_find_object launch to ros2

* renamed files

* uniformized default qos, increased sync_queue_size default to 10

* Added vlp16 + imu example

* Added husky 3D lidar demos

* moved demos in subdir

* Added vlp16+zed example

* rtabmap_viz: ignore odom update if tf not ready when not using topic (to avoid showing red screen). Added champ VSLAM demo.

* forwarded camera_model arg for zed examples, removed qos for turtlebot4 demo

* pointcloud_to_depthimage: added more error logs, removed output camera_info published twice and match ros1 namespaces

* Created two base general examples for 3D lidar usage, then create hardware specific examples on top of them.

* Added isaac sim demo

* Final update of all demos. Fixed MapCloud rviz plugin crashing when floor/ceiling filtering is used and resulting cloud is empty.

* Fixed 2d scan deskewing output frame, moved nav2 params under "params" folder, added number of topics processed/dropped for odometry, added icp_odometry option for turtlebot3 scan-only demo.

* rtabmap_demos: added README with examples

* Added TOC

* bump version to 0.21.9
This commit is contained in:
matlabbe
2024-11-30 17:28:16 -08:00
committed by GitHub
parent e9aa8ed082
commit 3f6adad463
116 changed files with 6102 additions and 575 deletions
Download Patch File Download Diff File Expand all files Collapse all files
rtabmap_sync/src/nodelets/rgbdx_sync.cpp
+16 -9
View File
@@ -43,11 +43,11 @@ RGBDXSync::RGBDXSync(const rclcpp::NodeOptions & options) :
SYNC_INIT(rgbd8)
{
int topicQueueSize = 10;
int syncQueueSize = 2;
int syncQueueSize = 10;
bool approxSync = true;
int rgbdCameras = 2;
double approxSyncMaxInterval = 0.0;
int qos = 0;
int qos = RMW_QOS_POLICY_RELIABILITY_SYSTEM_DEFAULT;
approxSync = this->declare_parameter("approx_sync", approxSync);
approxSyncMaxInterval = this->declare_parameter("approx_sync_max_interval", approxSyncMaxInterval);
topicQueueSize = this->declare_parameter("topic_queue_size", topicQueueSize);
@@ -176,13 +176,14 @@ void RGBDXSync::rgbd2Callback(
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image0,
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image1)
{
syncDiagnostic_->tick(image0->header.stamp);
syncDiagnostic_->tickInput(image0->header.stamp);
rtabmap_msgs::msg::RGBDImages output;
output.header = image0->header;
output.rgbd_images.resize(2);
output.rgbd_images[0]=(*image0);
output.rgbd_images[1]=(*image1);
rgbdImagesPub_->publish(output);
syncDiagnostic_->tickOutput(image0->header.stamp);
}
void RGBDXSync::rgbd3Callback(
@@ -190,7 +191,7 @@ void RGBDXSync::rgbd3Callback(
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image1,
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image2)
{
syncDiagnostic_->tick(image0->header.stamp);
syncDiagnostic_->tickInput(image0->header.stamp);
rtabmap_msgs::msg::RGBDImages output;
output.header = image0->header;
output.rgbd_images.resize(3);
@@ -198,6 +199,7 @@ void RGBDXSync::rgbd3Callback(
output.rgbd_images[1]=(*image1);
output.rgbd_images[2]=(*image2);
rgbdImagesPub_->publish(output);
syncDiagnostic_->tickOutput(image0->header.stamp);
}
void RGBDXSync::rgbd4Callback(
@@ -206,7 +208,7 @@ void RGBDXSync::rgbd4Callback(
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image2,
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image3)
{
syncDiagnostic_->tick(image0->header.stamp);
syncDiagnostic_->tickInput(image0->header.stamp);
rtabmap_msgs::msg::RGBDImages output;
output.header = image0->header;
output.rgbd_images.resize(4);
@@ -215,6 +217,7 @@ void RGBDXSync::rgbd4Callback(
output.rgbd_images[2]=(*image2);
output.rgbd_images[3]=(*image3);
rgbdImagesPub_->publish(output);
syncDiagnostic_->tickOutput(image0->header.stamp);
}
void RGBDXSync::rgbd5Callback(
@@ -224,7 +227,7 @@ void RGBDXSync::rgbd5Callback(
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image3,
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image4)
{
syncDiagnostic_->tick(image0->header.stamp);
syncDiagnostic_->tickInput(image0->header.stamp);
rtabmap_msgs::msg::RGBDImages output;
output.header = image0->header;
output.rgbd_images.resize(5);
@@ -234,6 +237,7 @@ void RGBDXSync::rgbd5Callback(
output.rgbd_images[3]=(*image3);
output.rgbd_images[4]=(*image4);
rgbdImagesPub_->publish(output);
syncDiagnostic_->tickOutput(image0->header.stamp);
}
void RGBDXSync::rgbd6Callback(
@@ -244,7 +248,7 @@ void RGBDXSync::rgbd6Callback(
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image4,
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image5)
{
syncDiagnostic_->tick(image0->header.stamp);
syncDiagnostic_->tickInput(image0->header.stamp);
rtabmap_msgs::msg::RGBDImages output;
output.header = image0->header;
output.rgbd_images.resize(6);
@@ -255,6 +259,7 @@ void RGBDXSync::rgbd6Callback(
output.rgbd_images[4]=(*image4);
output.rgbd_images[5]=(*image5);
rgbdImagesPub_->publish(output);
syncDiagnostic_->tickOutput(image0->header.stamp);
}
void RGBDXSync::rgbd7Callback(
@@ -266,7 +271,7 @@ void RGBDXSync::rgbd7Callback(
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image5,
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image6)
{
syncDiagnostic_->tick(image0->header.stamp);
syncDiagnostic_->tickInput(image0->header.stamp);
rtabmap_msgs::msg::RGBDImages output;
output.header = image0->header;
output.rgbd_images.resize(7);
@@ -278,6 +283,7 @@ void RGBDXSync::rgbd7Callback(
output.rgbd_images[5]=(*image5);
output.rgbd_images[6]=(*image6);
rgbdImagesPub_->publish(output);
syncDiagnostic_->tickOutput(image0->header.stamp);
}
void RGBDXSync::rgbd8Callback(
@@ -290,7 +296,7 @@ void RGBDXSync::rgbd8Callback(
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image6,
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image7)
{
syncDiagnostic_->tick(image0->header.stamp);
syncDiagnostic_->tickInput(image0->header.stamp);
rtabmap_msgs::msg::RGBDImages output;
output.header = image0->header;
output.rgbd_images.resize(8);
@@ -303,6 +309,7 @@ void RGBDXSync::rgbd8Callback(
output.rgbd_images[6]=(*image6);
output.rgbd_images[7]=(*image7);
rgbdImagesPub_->publish(output);
syncDiagnostic_->tickOutput(image0->header.stamp);
}
}