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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_sync/src/impl/CommonDataSubscriberOdom.cpp
-4
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@@ -32,7 +32,6 @@ namespace rtabmap_sync {
void CommonDataSubscriber::odomCallback(
const nav_msgs::OdometryConstPtr& odomMsg)
{
callbackCalled();
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
@@ -42,7 +41,6 @@ void CommonDataSubscriber::odomInfoCallback(
const nav_msgs::OdometryConstPtr& odomMsg,
const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
{
callbackCalled();
rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
sensor_msgs::LaserScanConstPtr scan2dMsg; // Null
commonOdomCallback(odomMsg, userDataMsg, odomInfoMsg);
@@ -52,7 +50,6 @@ void CommonDataSubscriber::odomDataCallback(
const nav_msgs::OdometryConstPtr& odomMsg,
const rtabmap_msgs::UserDataConstPtr & userDataMsg)
{
callbackCalled();
rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
commonOdomCallback(odomMsg, userDataMsg, odomInfoMsg);
}
@@ -61,7 +58,6 @@ void CommonDataSubscriber::odomDataInfoCallback(
const rtabmap_msgs::UserDataConstPtr & userDataMsg,
const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
{
callbackCalled();
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
commonOdomCallback(odomMsg, userDataMsg, odomInfoMsg);
}