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odom: fixed large delay, fixed map Tf frame published with wrong stamp.

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This commit is contained in:
matlabbe
2022-10-01 11:22:26 -07:00
parent c0259f31a2
commit 4fb73b4279
28 changed files with 298 additions and 298 deletions
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src/impl/CommonDataSubscriberRGBD4.cpp
+21 -21
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@@ -416,17 +416,17 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
for(int i=0; i<4; ++i)
{
rgbdSubs_[i] = new message_filters::Subscriber<rtabmap_ros::msg::RGBDImage>;
rgbdSubs_[i]->subscribe(&node, uFormat("rgbd_image%d", i), rclcpp::QoS(queueSize).reliability(qosImage_).get_rmw_qos_profile());
rgbdSubs_[i]->subscribe(&node, uFormat("rgbd_image%d", i), rclcpp::QoS(1).reliability(qosImage_).get_rmw_qos_profile());
}
#ifdef RTABMAP_SYNC_USER_DATA
if(subscribeOdom && subscribeUserData)
{
odomSub_.subscribe(&node, "odom", rclcpp::QoS(queueSize).reliability(qosOdom_).get_rmw_qos_profile());
userDataSub_.subscribe(&node, "user_data", rclcpp::QoS(queueSize).reliability(qosUserData_).get_rmw_qos_profile());
odomSub_.subscribe(&node, "odom", rclcpp::QoS(1).reliability(qosOdom_).get_rmw_qos_profile());
userDataSub_.subscribe(&node, "user_data", rclcpp::QoS(1).reliability(qosUserData_).get_rmw_qos_profile());
if(subscribeScanDesc)
{
subscribedToScanDescriptor_ = true;
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(queueSize).reliability(qosScan_).get_rmw_qos_profile());
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(1).reliability(qosScan_).get_rmw_qos_profile());
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -437,7 +437,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
else if(subscribeScan2d)
{
subscribedToScan2d_ = true;
scanSub_.subscribe(&node, "scan", rclcpp::QoS(queueSize).reliability(qosScan_).get_rmw_qos_profile());
scanSub_.subscribe(&node, "scan", rclcpp::QoS(1).reliability(qosScan_).get_rmw_qos_profile());
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -448,7 +448,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
else if(subscribeScan3d)
{
subscribedToScan3d_ = true;
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(queueSize).reliability(qosScan_).get_rmw_qos_profile());
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(1).reliability(qosScan_).get_rmw_qos_profile());
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -459,7 +459,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
else if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(queueSize).reliability(qosOdom_).get_rmw_qos_profile());
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(1).reliability(qosOdom_).get_rmw_qos_profile());
SYNC_DECL7(CommonDataSubscriber, rgbd4OdomDataInfo, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), odomInfoSub_);
}
else
@@ -471,11 +471,11 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
#endif
if(subscribeOdom)
{
odomSub_.subscribe(&node, "odom", rclcpp::QoS(queueSize).reliability(qosOdom_).get_rmw_qos_profile());
odomSub_.subscribe(&node, "odom", rclcpp::QoS(1).reliability(qosOdom_).get_rmw_qos_profile());
if(subscribeScanDesc)
{
subscribedToScanDescriptor_ = true;
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(queueSize).reliability(qosScan_).get_rmw_qos_profile());
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(1).reliability(qosScan_).get_rmw_qos_profile());
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -486,7 +486,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
else if(subscribeScan2d)
{
subscribedToScan2d_ = true;
scanSub_.subscribe(&node, "scan", rclcpp::QoS(queueSize).reliability(qosScan_).get_rmw_qos_profile());
scanSub_.subscribe(&node, "scan", rclcpp::QoS(1).reliability(qosScan_).get_rmw_qos_profile());
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -497,7 +497,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
else if(subscribeScan3d)
{
subscribedToScan3d_ = true;
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(queueSize).reliability(qosScan_).get_rmw_qos_profile());
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(1).reliability(qosScan_).get_rmw_qos_profile());
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -508,7 +508,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
else if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(queueSize).reliability(qosOdom_).get_rmw_qos_profile());
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(1).reliability(qosOdom_).get_rmw_qos_profile());
SYNC_DECL6(CommonDataSubscriber, rgbd4OdomInfo, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), odomInfoSub_);
}
else
@@ -519,11 +519,11 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
#ifdef RTABMAP_SYNC_USER_DATA
else if(subscribeUserData)
{
userDataSub_.subscribe(&node, "user_data", rclcpp::QoS(queueSize).reliability(qosUserData_).get_rmw_qos_profile());
userDataSub_.subscribe(&node, "user_data", rclcpp::QoS(1).reliability(qosUserData_).get_rmw_qos_profile());
if(subscribeScanDesc)
{
subscribedToScanDescriptor_ = true;
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(queueSize).reliability(qosScan_).get_rmw_qos_profile());
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(1).reliability(qosScan_).get_rmw_qos_profile());
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -534,7 +534,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
else if(subscribeScan2d)
{
subscribedToScan2d_ = true;
scanSub_.subscribe(&node, "scan", rclcpp::QoS(queueSize).reliability(qosScan_).get_rmw_qos_profile());
scanSub_.subscribe(&node, "scan", rclcpp::QoS(1).reliability(qosScan_).get_rmw_qos_profile());
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -545,7 +545,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
else if(subscribeScan3d)
{
subscribedToScan3d_ = true;
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(queueSize).reliability(qosScan_).get_rmw_qos_profile());
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(1).reliability(qosScan_).get_rmw_qos_profile());
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -556,7 +556,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
else if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(queueSize).reliability(qosOdom_).get_rmw_qos_profile());
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(1).reliability(qosOdom_).get_rmw_qos_profile());
SYNC_DECL6(CommonDataSubscriber, rgbd4DataInfo, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), odomInfoSub_);
}
else
@@ -570,7 +570,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
if(subscribeScanDesc)
{
subscribedToScanDescriptor_ = true;
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(queueSize).reliability(qosScan_).get_rmw_qos_profile());
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(1).reliability(qosScan_).get_rmw_qos_profile());
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -581,7 +581,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
else if(subscribeScan2d)
{
subscribedToScan2d_ = true;
scanSub_.subscribe(&node, "scan", rclcpp::QoS(queueSize).reliability(qosScan_).get_rmw_qos_profile());
scanSub_.subscribe(&node, "scan", rclcpp::QoS(1).reliability(qosScan_).get_rmw_qos_profile());
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -592,7 +592,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
else if(subscribeScan3d)
{
subscribedToScan3d_ = true;
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(queueSize).reliability(qosScan_).get_rmw_qos_profile());
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(1).reliability(qosScan_).get_rmw_qos_profile());
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -603,7 +603,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
else if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(queueSize).reliability(qosOdom_).get_rmw_qos_profile());
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(1).reliability(qosOdom_).get_rmw_qos_profile());
SYNC_DECL5(CommonDataSubscriber, rgbd4Info, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), odomInfoSub_);
}
else