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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/nodelets/icp_odometry.cpp
+3 -6
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@@ -71,8 +71,6 @@ ICPOdometry::~ICPOdometry()
void ICPOdometry::onOdomInit()
{
int queueSize = 1;
queueSize = this->declare_parameter("queue_size", queueSize);
scanCloudMaxPoints_ = this->declare_parameter("scan_cloud_max_points", scanCloudMaxPoints_);
scanDownsamplingStep_ = this->declare_parameter("scan_downsampling_step", scanDownsamplingStep_);
scanRangeMin_ = this->declare_parameter("scan_range_min", scanRangeMin_);
@@ -111,7 +109,6 @@ void ICPOdometry::onOdomInit()
}
}*/
RCLCPP_INFO(this->get_logger(), "IcpOdometry: queue_size = %d", queueSize);
RCLCPP_INFO(this->get_logger(), "IcpOdometry: qos = %d", (int)qos());
RCLCPP_INFO(this->get_logger(), "IcpOdometry: scan_cloud_max_points = %d", scanCloudMaxPoints_);
RCLCPP_INFO(this->get_logger(), "IcpOdometry: scan_downsampling_step = %d", scanDownsamplingStep_);
@@ -122,8 +119,8 @@ void ICPOdometry::onOdomInit()
RCLCPP_INFO(this->get_logger(), "IcpOdometry: scan_normal_radius = %f m", scanNormalRadius_);
RCLCPP_INFO(this->get_logger(), "IcpOdometry: scan_normal_ground_up = %f", scanNormalGroundUp_);
scan_sub_ = create_subscription<sensor_msgs::msg::LaserScan>("scan", rclcpp::QoS(queueSize).reliability((rmw_qos_reliability_policy_t)qos()), std::bind(&ICPOdometry::callbackScan, this, std::placeholders::_1));
cloud_sub_ = create_subscription<sensor_msgs::msg::PointCloud2>("scan_cloud", rclcpp::QoS(queueSize).reliability((rmw_qos_reliability_policy_t)qos()), std::bind(&ICPOdometry::callbackCloud, this, std::placeholders::_1));
scan_sub_ = create_subscription<sensor_msgs::msg::LaserScan>("scan", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos()), std::bind(&ICPOdometry::callbackScan, this, std::placeholders::_1));
cloud_sub_ = create_subscription<sensor_msgs::msg::PointCloud2>("scan_cloud", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos()), std::bind(&ICPOdometry::callbackCloud, this, std::placeholders::_1));
filtered_scan_pub_ = create_publisher<sensor_msgs::msg::PointCloud2>("odom_filtered_input_scan", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos()));
}
@@ -306,7 +303,7 @@ void ICPOdometry::callbackScan(const sensor_msgs::msg::LaserScan::SharedPtr scan
// make sure the frame of the laser is updated too
Transform localScanTransform = getTransform(this->frameId(),
scanMsg->header.frame_id,
rclcpp::Time(scanMsg->header.stamp.sec, scanMsg->header.stamp.nanosec) + rclcpp::Duration::from_seconds(scanMsg->ranges.size()*scanMsg->time_increment*10e9),
rclcpp::Time(scanMsg->header.stamp.sec, scanMsg->header.stamp.nanosec) + rclcpp::Duration::from_seconds(scanMsg->ranges.size()*scanMsg->time_increment),
tfBuffer(), waitForTransform());
if(localScanTransform.isNull())
{
src/nodelets/obstacles_detection.cpp
+1 -1
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@@ -82,7 +82,7 @@ ObstaclesDetection::ObstaclesDetection(const rclcpp::NodeOptions & options) :
obstaclesPub_ = create_publisher<sensor_msgs::msg::PointCloud2>("obstacles", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos));
projObstaclesPub_ = create_publisher<sensor_msgs::msg::PointCloud2>("proj_obstacles", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos));
cloudSub_ = create_subscription<sensor_msgs::msg::PointCloud2>("cloud", rclcpp::QoS(5).reliability((rmw_qos_reliability_policy_t)qos), std::bind(&ObstaclesDetection::callback, this, std::placeholders::_1));
cloudSub_ = create_subscription<sensor_msgs::msg::PointCloud2>("cloud", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos), std::bind(&ObstaclesDetection::callback, this, std::placeholders::_1));
}
src/nodelets/point_cloud_aggregator.cpp
+5 -5
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@@ -72,14 +72,14 @@ PointCloudAggregator::PointCloudAggregator(const rclcpp::NodeOptions & options)
cloudPub_ = create_publisher<sensor_msgs::msg::PointCloud2>("combined_cloud", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos));
cloudSub_1_.subscribe(this, "cloud1", rclcpp::QoS(queueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
cloudSub_2_.subscribe(this, "cloud2", rclcpp::QoS(queueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
cloudSub_1_.subscribe(this, "cloud1", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
cloudSub_2_.subscribe(this, "cloud2", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
std::string subscribedTopicsMsg;
if(count == 4)
{
cloudSub_3_.subscribe(this, "cloud3", rclcpp::QoS(queueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
cloudSub_4_.subscribe(this, "cloud4", rclcpp::QoS(queueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
cloudSub_3_.subscribe(this, "cloud3", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
cloudSub_4_.subscribe(this, "cloud4", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
if(approx)
{
approxSync4_ = new message_filters::Synchronizer<ApproxSync4Policy>(ApproxSync4Policy(queueSize), cloudSub_1_, cloudSub_2_, cloudSub_3_, cloudSub_4_);
@@ -100,7 +100,7 @@ PointCloudAggregator::PointCloudAggregator(const rclcpp::NodeOptions & options)
}
else if(count == 3)
{
cloudSub_3_.subscribe(this, "cloud3", rclcpp::QoS(queueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
cloudSub_3_.subscribe(this, "cloud3", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
if(approx)
{
approxSync3_ = new message_filters::Synchronizer<ApproxSync3Policy>(ApproxSync3Policy(queueSize), cloudSub_1_, cloudSub_2_, cloudSub_3_);
src/nodelets/point_cloud_assembler.cpp
+7 -7
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@@ -124,20 +124,20 @@ PointCloudAssembler::PointCloudAssembler(const rclcpp::NodeOptions & options) :
cloudsSkipped_ = skipClouds_;
cloudPub_ = create_publisher<sensor_msgs::msg::PointCloud2>("assembled_cloud", rclcpp::QoS(queueSize).reliability((rmw_qos_reliability_policy_t)qos));
cloudPub_ = create_publisher<sensor_msgs::msg::PointCloud2>("assembled_cloud", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos));
if(!fixedFrameId_.empty())
{
cloudSub_ = create_subscription<sensor_msgs::msg::PointCloud2>("cloud", rclcpp::QoS(queueSize).reliability((rmw_qos_reliability_policy_t)qos), std::bind(&PointCloudAssembler::callbackCloud, this, std::placeholders::_1));
cloudSub_ = create_subscription<sensor_msgs::msg::PointCloud2>("cloud", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos), std::bind(&PointCloudAssembler::callbackCloud, this, std::placeholders::_1));
subscribedTopicsMsg_ = uFormat("\n%s subscribed to %s",
get_name(),
cloudSub_->get_topic_name());
}
else if(subscribeOdomInfo)
{
syncCloudSub_.subscribe(this, "cloud", rclcpp::QoS(queueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
syncOdomSub_.subscribe(this, "odom", rclcpp::QoS(queueSize).reliability((rmw_qos_reliability_policy_t)qosOdom).get_rmw_qos_profile());
syncOdomInfoSub_.subscribe(this, "odom_info", rclcpp::QoS(queueSize).reliability((rmw_qos_reliability_policy_t)qosOdom).get_rmw_qos_profile());
syncCloudSub_.subscribe(this, "cloud", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
syncOdomSub_.subscribe(this, "odom", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qosOdom).get_rmw_qos_profile());
syncOdomInfoSub_.subscribe(this, "odom_info", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qosOdom).get_rmw_qos_profile());
exactInfoSync_ = new message_filters::Synchronizer<syncInfoPolicy>(syncInfoPolicy(queueSize), syncCloudSub_, syncOdomSub_, syncOdomInfoSub_);
exactInfoSync_->registerCallback(std::bind(&rtabmap_ros::PointCloudAssembler::callbackCloudOdomInfo, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
subscribedTopicsMsg_ = uFormat("\n%s subscribed to (exact sync):\n %s,\n %s",
@@ -148,8 +148,8 @@ PointCloudAssembler::PointCloudAssembler(const rclcpp::NodeOptions & options) :
}
else
{
syncCloudSub_.subscribe(this, "cloud", rclcpp::QoS(queueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
syncOdomSub_.subscribe(this, "odom", rclcpp::QoS(queueSize).reliability((rmw_qos_reliability_policy_t)qosOdom).get_rmw_qos_profile());
syncCloudSub_.subscribe(this, "cloud", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
syncOdomSub_.subscribe(this, "odom", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qosOdom).get_rmw_qos_profile());
exactSync_ = new message_filters::Synchronizer<syncPolicy>(syncPolicy(queueSize), syncCloudSub_, syncOdomSub_);
exactSync_->registerCallback(std::bind(&rtabmap_ros::PointCloudAssembler::callbackCloudOdom, this, std::placeholders::_1, std::placeholders::_2));
subscribedTopicsMsg_ = uFormat("\n%s subscribed to (exact sync):\n %s,\n %s",
src/nodelets/point_cloud_xyz.cpp
+4 -4
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@@ -136,11 +136,11 @@ PointCloudXYZ::PointCloudXYZ(const rclcpp::NodeOptions & options) :
cloudPub_ = create_publisher<sensor_msgs::msg::PointCloud2>("cloud", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos));
image_transport::TransportHints hints(this);
imageDepthSub_.subscribe(this, "depth/image", hints.getTransport(), rclcpp::QoS(queueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
cameraInfoSub_.subscribe(this, "depth/camera_info", rclcpp::QoS(queueSize).reliability((rmw_qos_reliability_policy_t)qosCamInfo).get_rmw_qos_profile());
imageDepthSub_.subscribe(this, "depth/image", hints.getTransport(), rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
cameraInfoSub_.subscribe(this, "depth/camera_info", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qosCamInfo).get_rmw_qos_profile());
disparitySub_.subscribe(this, "disparity/image", rclcpp::QoS(queueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
disparityCameraInfoSub_.subscribe(this, "disparity/camera_info", rclcpp::QoS(queueSize).reliability((rmw_qos_reliability_policy_t)qosCamInfo).get_rmw_qos_profile());
disparitySub_.subscribe(this, "disparity/image", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
disparityCameraInfoSub_.subscribe(this, "disparity/camera_info", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qosCamInfo).get_rmw_qos_profile());
}
PointCloudXYZ::~PointCloudXYZ()
src/nodelets/point_cloud_xyzrgb.cpp
+9 -9
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@@ -133,7 +133,7 @@ PointCloudXYZRGB::PointCloudXYZRGB(const rclcpp::NodeOptions & options) :
cloudPub_ = create_publisher<sensor_msgs::msg::PointCloud2>("cloud", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos));
rgbdImageSub_ = create_subscription<rtabmap_ros::msg::RGBDImage>("rgbd_image", rclcpp::QoS(queueSize).reliability((rmw_qos_reliability_policy_t)qos), std::bind(&PointCloudXYZRGB::rgbdImageCallback, this, std::placeholders::_1));
rgbdImageSub_ = create_subscription<rtabmap_ros::msg::RGBDImage>("rgbd_image", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos), std::bind(&PointCloudXYZRGB::rgbdImageCallback, this, std::placeholders::_1));
if(approxSync)
{
@@ -160,16 +160,16 @@ PointCloudXYZRGB::PointCloudXYZRGB(const rclcpp::NodeOptions & options) :
}
image_transport::TransportHints hints(this);
imageSub_.subscribe(this, "rgb/image", hints.getTransport(), rclcpp::QoS(queueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
imageDepthSub_.subscribe(this, "depth/image", hints.getTransport(), rclcpp::QoS(queueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
cameraInfoSub_.subscribe(this, "rgb/camera_info", rclcpp::QoS(queueSize).reliability((rmw_qos_reliability_policy_t)qosCamInfo).get_rmw_qos_profile());
imageSub_.subscribe(this, "rgb/image", hints.getTransport(), rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
imageDepthSub_.subscribe(this, "depth/image", hints.getTransport(), rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
cameraInfoSub_.subscribe(this, "rgb/camera_info", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qosCamInfo).get_rmw_qos_profile());
imageDisparitySub_.subscribe(this, "disparity", rclcpp::QoS(queueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
imageDisparitySub_.subscribe(this, "disparity", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
imageLeft_.subscribe(this, "left/image", hints.getTransport(), rclcpp::QoS(queueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
imageRight_.subscribe(this, "right/image", hints.getTransport(), rclcpp::QoS(queueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
cameraInfoLeft_.subscribe(this, "left/camera_info", rclcpp::QoS(queueSize).reliability((rmw_qos_reliability_policy_t)qosCamInfo).get_rmw_qos_profile());
cameraInfoRight_.subscribe(this, "right/camera_info", rclcpp::QoS(queueSize).reliability((rmw_qos_reliability_policy_t)qosCamInfo).get_rmw_qos_profile());
imageLeft_.subscribe(this, "left/image", hints.getTransport(), rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
imageRight_.subscribe(this, "right/image", hints.getTransport(), rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
cameraInfoLeft_.subscribe(this, "left/camera_info", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qosCamInfo).get_rmw_qos_profile());
cameraInfoRight_.subscribe(this, "right/camera_info", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qosCamInfo).get_rmw_qos_profile());
}
PointCloudXYZRGB::~PointCloudXYZRGB()
src/nodelets/pointcloud_to_depthimage.cpp
+2 -2
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@@ -108,8 +108,8 @@ PointCloudToDepthImage::PointCloudToDepthImage(const rclcpp::NodeOptions & optio
exactSync_->registerCallback(std::bind(&PointCloudToDepthImage::callback, this, std::placeholders::_1, std::placeholders::_2));
}
pointCloudSub_.subscribe(this, "cloud", rclcpp::QoS(queueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
cameraInfoSub_.subscribe(this, "camera_info", rclcpp::QoS(queueSize).reliability((rmw_qos_reliability_policy_t)qosCamInfo).get_rmw_qos_profile());
pointCloudSub_.subscribe(this, "cloud", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
cameraInfoSub_.subscribe(this, "camera_info", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qosCamInfo).get_rmw_qos_profile());
}
PointCloudToDepthImage::~PointCloudToDepthImage()
src/nodelets/rgbd_sync.cpp
+3 -3
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@@ -90,9 +90,9 @@ RGBDSync::RGBDSync(const rclcpp::NodeOptions & options) :
}
image_transport::TransportHints hints(this);
imageSub_.subscribe(this, "rgb/image", hints.getTransport(), rclcpp::QoS(queueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
imageDepthSub_.subscribe(this, "depth/image", hints.getTransport(), rclcpp::QoS(queueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
cameraInfoSub_.subscribe(this, "rgb/camera_info", rclcpp::QoS(queueSize).reliability((rmw_qos_reliability_policy_t)qosCamInfo).get_rmw_qos_profile());
imageSub_.subscribe(this, "rgb/image", hints.getTransport(), rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
imageDepthSub_.subscribe(this, "depth/image", hints.getTransport(), rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
cameraInfoSub_.subscribe(this, "rgb/camera_info", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qosCamInfo).get_rmw_qos_profile());
subscribedTopicsMsg_ = uFormat("\n%s subscribed to (%s sync):\n %s,\n %s,\n %s",
get_name(),
src/nodelets/rgbdx_sync.cpp
+1 -1
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@@ -66,7 +66,7 @@ RGBDXSync::RGBDXSync(const rclcpp::NodeOptions & options) :
for(int i=0; i<rgbdCameras; ++i)
{
rgbdSubs_[i] = new message_filters::Subscriber<rtabmap_ros::msg::RGBDImage>;
rgbdSubs_[i]->subscribe(this, uFormat("rgbd_image%d", i), rclcpp::QoS(queueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
rgbdSubs_[i]->subscribe(this, uFormat("rgbd_image%d", i), rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
}
std::string name_ = get_name();
src/nodelets/stereo_odometry.cpp
+5 -5
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@@ -82,7 +82,7 @@ void StereoOdometry::onOdomInit()
std::string subscribedTopicsMsg;
if(subscribeRGBD)
{
rgbdSub_ = create_subscription<rtabmap_ros::msg::RGBDImage>("rgbd_image", rclcpp::QoS(queueSize_).reliability((rmw_qos_reliability_policy_t)qos()), std::bind(&StereoOdometry::callbackRGBD, this, std::placeholders::_1));
rgbdSub_ = create_subscription<rtabmap_ros::msg::RGBDImage>("rgbd_image", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos()), std::bind(&StereoOdometry::callbackRGBD, this, std::placeholders::_1));
subscribedTopicsMsg =
uFormat("\n%s subscribed to:\n %s",
@@ -92,10 +92,10 @@ void StereoOdometry::onOdomInit()
else
{
image_transport::TransportHints hints(this);
imageRectLeft_.subscribe(this, "left/image_rect", hints.getTransport(), rclcpp::QoS(queueSize_).reliability((rmw_qos_reliability_policy_t)qos()).get_rmw_qos_profile());
imageRectRight_.subscribe(this, "right/image_rect", hints.getTransport(), rclcpp::QoS(queueSize_).reliability((rmw_qos_reliability_policy_t)qos()).get_rmw_qos_profile());
cameraInfoLeft_.subscribe(this, "left/camera_info", rclcpp::QoS(queueSize_).reliability((rmw_qos_reliability_policy_t)qosCamInfo).get_rmw_qos_profile());
cameraInfoRight_.subscribe(this, "right/camera_info", rclcpp::QoS(queueSize_).reliability((rmw_qos_reliability_policy_t)qosCamInfo).get_rmw_qos_profile());
imageRectLeft_.subscribe(this, "left/image_rect", hints.getTransport(), rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos()).get_rmw_qos_profile());
imageRectRight_.subscribe(this, "right/image_rect", hints.getTransport(), rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos()).get_rmw_qos_profile());
cameraInfoLeft_.subscribe(this, "left/camera_info", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qosCamInfo).get_rmw_qos_profile());
cameraInfoRight_.subscribe(this, "right/camera_info", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qosCamInfo).get_rmw_qos_profile());
if(approxSync)
{
src/nodelets/stereo_sync.cpp
+4 -4
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@@ -78,10 +78,10 @@ StereoSync::StereoSync(const rclcpp::NodeOptions & options) :
}
image_transport::TransportHints hints(this);
imageLeftSub_.subscribe(this, "left/image_rect", hints.getTransport(), rclcpp::QoS(queueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
imageRightSub_.subscribe(this, "right/image_rect", hints.getTransport(), rclcpp::QoS(queueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
cameraInfoLeftSub_.subscribe(this, "left/camera_info"), rclcpp::QoS(queueSize).reliability((rmw_qos_reliability_policy_t)qosCamInfo).get_rmw_qos_profile();
cameraInfoRightSub_.subscribe(this, "right/camera_info", rclcpp::QoS(queueSize).reliability((rmw_qos_reliability_policy_t)qosCamInfo).get_rmw_qos_profile());
imageLeftSub_.subscribe(this, "left/image_rect", hints.getTransport(), rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
imageRightSub_.subscribe(this, "right/image_rect", hints.getTransport(), rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
cameraInfoLeftSub_.subscribe(this, "left/camera_info"), rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qosCamInfo).get_rmw_qos_profile();
cameraInfoRightSub_.subscribe(this, "right/camera_info", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qosCamInfo).get_rmw_qos_profile());
subscribedTopicsMsg_ = uFormat("\n%s subscribed to (%s sync):\n %s,\n %s,\n %s,\n %s",
get_name(),