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Added warning after 10 seconds if any callback has not been called since the start (rtabmap, rtabmapviz and odometry nodes).

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matlabbe
2016-09-28 12:08:11 -04:00
parent 24afa89477
commit 5119b3ab90
12 changed files with 122 additions and 21 deletions
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include/rtabmap_ros/CommonDataSubscriberDefines.h
+6 -5
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@@ -28,6 +28,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#ifndef INCLUDE_RTABMAP_ROS_COMMONDATASUBSCRIBERIMPL_H_
#define INCLUDE_RTABMAP_ROS_COMMONDATASUBSCRIBERIMPL_H_
#include <rtabmap/utilite/UConversion.h>
#define DATA_SYNC2(PREFIX, SYNC_NAME, MSG0, MSG1) \
typedef message_filters::sync_policies::SYNC_NAME##Time<MSG0, MSG1> PREFIX##SYNC_NAME##SyncPolicy; \
@@ -98,7 +99,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
PREFIX##ExactSyncPolicy(QUEUE_SIZE), SUB0, SUB1); \
PREFIX##ExactSync_->registerCallback(boost::bind(&CommonDataSubscriber::PREFIX##Callback, this, _1, _2)); \
} \
ROS_INFO("\n%s subscribed to (%s sync):\n %s,\n %s", \
subscribedTopicsMsg_ = uFormat("\n%s subscribed to (%s sync):\n %s,\n %s", \
ros::this_node::getName().c_str(), \
APPROX?"approx":"exact", \
SUB0.getTopic().c_str(), \
@@ -117,7 +118,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
PREFIX##ExactSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2); \
PREFIX##ExactSync_->registerCallback(boost::bind(&CommonDataSubscriber::PREFIX##Callback, this, _1, _2, _3)); \
} \
ROS_INFO("\n%s subscribed to (%s sync):\n %s,\n %s,\n %s", \
subscribedTopicsMsg_ = uFormat("\n%s subscribed to (%s sync):\n %s,\n %s,\n %s", \
ros::this_node::getName().c_str(), \
APPROX?"approx":"exact", \
SUB0.getTopic().c_str(), \
@@ -137,7 +138,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
PREFIX##ExactSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2, SUB3); \
PREFIX##ExactSync_->registerCallback(boost::bind(&CommonDataSubscriber::PREFIX##Callback, this, _1, _2, _3, _4)); \
} \
ROS_INFO("\n%s subscribed to (%s sync):\n %s,\n %s,\n %s,\n %s", \
subscribedTopicsMsg_ = uFormat("\n%s subscribed to (%s sync):\n %s,\n %s,\n %s,\n %s", \
ros::this_node::getName().c_str(), \
APPROX?"approx":"exact", \
SUB0.getTopic().c_str(), \
@@ -158,7 +159,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
PREFIX##ExactSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2, SUB3, SUB4); \
PREFIX##ExactSync_->registerCallback(boost::bind(&CommonDataSubscriber::PREFIX##Callback, this, _1, _2, _3, _4, _5)); \
} \
ROS_INFO("\n%s subscribed to (%s sync):\n %s,\n %s,\n %s,\n %s,\n %s", \
subscribedTopicsMsg_ = uFormat("\n%s subscribed to (%s sync):\n %s,\n %s,\n %s,\n %s,\n %s", \
ros::this_node::getName().c_str(), \
approxSync?"approx":"exact", \
SUB0.getTopic().c_str(), \
@@ -180,7 +181,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
PREFIX##ExactSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2, SUB3, SUB4, SUB5); \
PREFIX##ExactSync_->registerCallback(boost::bind(&CommonDataSubscriber::PREFIX##Callback, this, _1, _2, _3, _4, _5, _6)); \
} \
ROS_INFO("\n%s subscribed to (%s sync):\n %s,\n %s,\n %s,\n %s,\n %s,\n %s", \
subscribedTopicsMsg_ = uFormat("\n%s subscribed to (%s sync):\n %s,\n %s,\n %s,\n %s,\n %s,\n %s", \
ros::this_node::getName().c_str(), \
APPROX?"approx":"exact", \
SUB0.getTopic().c_str(), \