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Added rgbd_relay node/nodelet (can be used exactly like a relay of topic_tools but with ability to uncompress or compress rgbd_image)

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matlabbe
2019-03-03 18:31:35 -05:00
parent 70dfe3b56d
commit 4646b99cbb
8 changed files with 366 additions and 30 deletions
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launch/rtabmap.launch
+17 -13
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@@ -113,6 +113,8 @@
<arg unless="$(arg compressed)" name="left_image_topic_relay" default="$(arg left_image_topic)"/>
<arg if="$(arg compressed)" name="right_image_topic_relay" default="$(arg right_image_topic)_relay"/>
<arg unless="$(arg compressed)" name="right_image_topic_relay" default="$(arg right_image_topic)"/>
<arg if="$(arg rgbd_sync)" name="rgbd_topic_relay" default="$(arg rgbd_topic)"/>
<arg unless="$(arg rgbd_sync)" name="rgbd_topic_relay" default="$(arg rgbd_topic)_relay"/>
<!-- Nodes -->
<group ns="$(arg namespace)">
@@ -130,7 +132,7 @@
<remap from="rgb/image" to="$(arg rgb_topic_relay)"/>
<remap from="depth/image" to="$(arg depth_topic_relay)"/>
<remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
<remap from="rgbd_image" to="$(arg rgbd_topic)"/>
<remap from="rgbd_image" to="$(arg rgbd_topic_relay)"/>
<param name="approx_sync" type="bool" value="$(arg approx_rgbd_sync)"/>
<param name="queue_size" type="int" value="$(arg queue_size)"/>
<param name="depth_scale" type="double" value="$(arg depth_scale)"/>
@@ -150,7 +152,7 @@
<remap from="right/image_rect" to="$(arg right_image_topic_relay)"/>
<remap from="left/camera_info" to="$(arg left_camera_info_topic)"/>
<remap from="right/camera_info" to="$(arg right_camera_info_topic)"/>
<remap from="rgbd_image" to="$(arg rgbd_topic)"/>
<remap from="rgbd_image" to="$(arg rgbd_topic_relay)"/>
<param name="approx_sync" type="bool" value="$(arg approx_rgbd_sync)"/>
<param name="queue_size" type="int" value="$(arg queue_size)"/>
</node>
@@ -158,7 +160,14 @@
</group>
<group unless="$(arg rgbd_sync)">
<node if="$(arg subscribe_rgbd)" name="republish_rgbd_image" type="relay" pkg="topic_tools" args="$(arg rgbd_topic) $(arg rgbd_topic)_relay" />
<group if="$(arg subscribe_rgbd)">
<node name="republish_rgbd_image" type="rgbd_relay" pkg="rtabmap_ros">
<remap if="$(arg compressed)" from="rgbd_image" to="$(arg rgbd_topic)/compressed"/>
<remap if="$(arg compressed)" from="$(arg rgbd_topic)/compressed_relay" to="$(arg rgbd_topic_relay)"/>
<remap unless="$(arg compressed)" from="rgbd_image" to="$(arg rgbd_topic)"/>
<param if="$(arg compressed)" name="uncompress" value="true"/>
</node>
</group>
</group>
<!-- Visual odometry -->
@@ -170,8 +179,7 @@
<remap from="rgb/image" to="$(arg rgb_topic_relay)"/>
<remap from="depth/image" to="$(arg depth_topic_relay)"/>
<remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
<remap if="$(arg rgbd_sync)" from="rgbd_image" to="$(arg rgbd_topic)"/>
<remap unless="$(arg rgbd_sync)" from="rgbd_image" to="$(arg rgbd_topic)_relay"/>
<remap from="rgbd_image" to="$(arg rgbd_topic_relay)"/>
<remap from="odom" to="$(arg odom_topic)"/>
<param name="frame_id" type="string" value="$(arg frame_id)"/>
@@ -194,8 +202,7 @@
<remap from="right/image_rect" to="$(arg right_image_topic_relay)"/>
<remap from="left/camera_info" to="$(arg left_camera_info_topic)"/>
<remap from="right/camera_info" to="$(arg right_camera_info_topic)"/>
<remap if="$(arg rgbd_sync)" from="rgbd_image" to="$(arg rgbd_topic)"/>
<remap unless="$(arg rgbd_sync)" from="rgbd_image" to="$(arg rgbd_topic)_relay"/>
<remap from="rgbd_image" to="$(arg rgbd_topic_relay)"/>
<remap from="odom" to="$(arg odom_topic)"/>
<remap from="imu" to="$(arg imu_topic)"/>
@@ -266,8 +273,7 @@
<remap from="depth/image" to="$(arg depth_topic_relay)"/>
<remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
<remap if="$(arg rgbd_sync)" from="rgbd_image" to="$(arg rgbd_topic)"/>
<remap unless="$(arg rgbd_sync)" from="rgbd_image" to="$(arg rgbd_topic)_relay"/>
<remap from="rgbd_image" to="$(arg rgbd_topic_relay)"/>
<remap from="left/image_rect" to="$(arg left_image_topic_relay)"/>
<remap from="right/image_rect" to="$(arg right_image_topic_relay)"/>
@@ -308,8 +314,7 @@
<remap from="depth/image" to="$(arg depth_topic_relay)"/>
<remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
<remap if="$(arg rgbd_sync)" from="rgbd_image" to="$(arg rgbd_topic)"/>
<remap unless="$(arg rgbd_sync)" from="rgbd_image" to="$(arg rgbd_topic)_relay"/>
<remap from="rgbd_image" to="$(arg rgbd_topic_relay)"/>
<remap from="left/image_rect" to="$(arg left_image_topic_relay)"/>
<remap from="right/image_rect" to="$(arg right_image_topic_relay)"/>
@@ -333,8 +338,7 @@
<remap unless="$(arg subscribe_rgbd)" from="rgb/image" to="$(arg rgb_topic_relay)"/>
<remap unless="$(arg subscribe_rgbd)" from="depth/image" to="$(arg depth_topic_relay)"/>
<remap unless="$(arg subscribe_rgbd)" from="rgb/camera_info" to="$(arg camera_info_topic)"/>
<remap if="$(arg rgbd_sync)" from="rgbd_image" to="$(arg rgbd_topic)"/>
<remap unless="$(arg rgbd_sync)" from="rgbd_image" to="$(arg rgbd_topic)_relay"/>
<remap from="rgbd_image" to="$(arg rgbd_topic_relay)"/>
<remap from="cloud" to="voxel_cloud" />
<param name="decimation" type="double" value="4"/>