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

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* 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
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rtabmap_sync/src/nodelets/stereo_sync.cpp
+4 -3
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@@ -51,10 +51,10 @@ StereoSync::StereoSync(const rclcpp::NodeOptions & options) :
exactSync_(0)
{
int topicQueueSize = 10;
int syncQueueSize = 2;
int syncQueueSize = 10;
bool approxSync = false;
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);
@@ -139,7 +139,7 @@ void StereoSync::callback(
const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfoLeft,
const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfoRight)
{
syncDiagnostic_->tick(imageLeft->header.stamp);
syncDiagnostic_->tickInput(imageLeft->header.stamp);
if(rgbdImagePub_->get_subscription_count() || rgbdImageCompressedPub_->get_subscription_count())
{
double leftStamp = rtabmap_conversions::timestampFromROS(imageLeft->header.stamp);
@@ -209,6 +209,7 @@ void StereoSync::callback(
rightStamp, rtabmap_conversions::timestampFromROS(imageRight->header.stamp));
}
}
syncDiagnostic_->tickOutput(imageLeft->header.stamp);
}
}