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rtabmap_sync tests and doc (#1454)

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* rtabmap_sync tests and doc

* Added some diagrams

* cleanup some diagrams

* fixing running tests in parallels
This commit is contained in:
matlabbe
2026-09-13 11:25:32 -07:00
committed by GitHub
parent 61edb4ee85
commit 5062bf0614
45 changed files with 4481 additions and 76 deletions
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rtabmap_sync/src/nodelets/rgb_sync.cpp
+5 -2
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@@ -46,15 +46,18 @@ namespace rtabmap_sync
{
RGBSync::RGBSync(const rclcpp::NodeOptions & options) :
Node("rgbd_sync", options),
Node("rgb_sync", options),
compressedRate_(0),
fillEmptyDepth_(false),
lastCompressedPublished_(0, 0, RCL_ROS_TIME),
approxSync_(0),
exactSync_(0)
{
int topicQueueSize = 10;
int syncQueueSize = 10;
bool approxSync = true;
// A camera publisher sends the image and its camera_info together, with the same
// stamp, so the exact policy is both cheaper and impossible to mismatch.
bool approxSync = false;
int qos = RMW_QOS_POLICY_RELIABILITY_SYSTEM_DEFAULT;
double approxSyncMaxInterval = 0.0;
approxSync = this->declare_parameter("approx_sync", approxSync);
rtabmap_sync/src/nodelets/rgbd_sync.cpp
+1
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@@ -51,6 +51,7 @@ RGBDSync::RGBDSync(const rclcpp::NodeOptions & options) :
decimation_(1),
compressedRate_(0),
approxSyncMaxInterval_(0.0),
lastCompressedPublished_(0, 0, RCL_ROS_TIME),
approxSyncDepth_(0),
exactSyncDepth_(0)
{
rtabmap_sync/src/nodelets/stereo_sync.cpp
+1
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@@ -48,6 +48,7 @@ StereoSync::StereoSync(const rclcpp::NodeOptions & options) :
Node("stereo_sync", options),
compressedRate_(0),
approxSyncMaxInterval_(0.0),
lastCompressedPublished_(0, 0, RCL_ROS_TIME),
approxSync_(0),
exactSync_(0)
{