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Added sync diagnostic (#1026)

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* Added sync diagnotic

* Removed composite task to avoid empty msg, added odom status task
This commit is contained in:
matlabbe
2023-08-27 12:30:53 -07:00
committed by GitHub
parent cd52f7664c
commit 4a3863cdc7
28 changed files with 264 additions and 285 deletions
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rtabmap_odom/src/nodelets/rgbd_odometry.cpp
+3 -8
View File
@@ -161,6 +161,7 @@ private:
NODELET_INFO("RGBDOdometry: rgbd_cameras = %d", rgbdCameras);
NODELET_INFO("RGBDOdometry: keep_color = %s", keepColor_?"true":"false");
std::string subscribedTopic;
std::string subscribedTopicsMsg;
if(subscribeRGBD)
{
@@ -356,6 +357,7 @@ private:
exactSync_->registerCallback(boost::bind(&RGBDOdometry::callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3));
}
subscribedTopic = rgb_nh.resolveName("image");
subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync%s):\n %s \\\n %s \\\n %s",
getName().c_str(),
approxSync?"approx":"exact",
@@ -364,7 +366,7 @@ private:
image_depth_sub_.getTopic().c_str(),
info_sub_.getTopic().c_str());
}
this->startWarningThread(subscribedTopicsMsg, approxSync);
initDiagnosticMsg(subscribedTopicsMsg, approxSync, subscribedTopic);
}
virtual void updateParameters(ParametersMap & parameters)
@@ -546,7 +548,6 @@ private:
const sensor_msgs::ImageConstPtr& depth,
const sensor_msgs::CameraInfoConstPtr& cameraInfo)
{
callbackCalled();
if(!this->isPaused())
{
std::vector<cv_bridge::CvImageConstPtr> imageMsgs(1);
@@ -575,7 +576,6 @@ private:
void callbackRGBD(
const rtabmap_msgs::RGBDImageConstPtr& image)
{
callbackCalled();
if(!this->isPaused())
{
std::vector<cv_bridge::CvImageConstPtr> imageMsgs(1);
@@ -591,7 +591,6 @@ private:
void callbackRGBDX(
const rtabmap_msgs::RGBDImagesConstPtr& images)
{
callbackCalled();
if(!this->isPaused())
{
if(images->rgbd_images.empty())
@@ -616,7 +615,6 @@ private:
const rtabmap_msgs::RGBDImageConstPtr& image,
const rtabmap_msgs::RGBDImageConstPtr& image2)
{
callbackCalled();
if(!this->isPaused())
{
std::vector<cv_bridge::CvImageConstPtr> imageMsgs(2);
@@ -636,7 +634,6 @@ private:
const rtabmap_msgs::RGBDImageConstPtr& image2,
const rtabmap_msgs::RGBDImageConstPtr& image3)
{
callbackCalled();
if(!this->isPaused())
{
std::vector<cv_bridge::CvImageConstPtr> imageMsgs(3);
@@ -659,7 +656,6 @@ private:
const rtabmap_msgs::RGBDImageConstPtr& image3,
const rtabmap_msgs::RGBDImageConstPtr& image4)
{
callbackCalled();
if(!this->isPaused())
{
std::vector<cv_bridge::CvImageConstPtr> imageMsgs(4);
@@ -685,7 +681,6 @@ private:
const rtabmap_msgs::RGBDImageConstPtr& image4,
const rtabmap_msgs::RGBDImageConstPtr& image5)
{
callbackCalled();
if(!this->isPaused())
{
std::vector<cv_bridge::CvImageConstPtr> imageMsgs(5);