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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/OdometryROS.h
+8
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@@ -41,6 +41,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/core/SensorData.h>
#include <rtabmap/core/Parameters.h>
#include <boost/thread.hpp>
namespace rtabmap {
class Odometry;
}
@@ -72,16 +74,22 @@ public:
rtabmap::Transform getTransform(const std::string & fromFrameId, const std::string & toFrameId, const ros::Time & stamp) const;
protected:
void startWarningThread(const std::string & subscribedTopicsMsg, bool approxSync);
void callbackCalled() {callbackCalled_ = true;}
virtual void flushCallbacks() = 0;
tf::TransformListener & tfListener() {return tfListener_;}
private:
void warningLoop(const std::string & subscribedTopicsMsg, bool approxSync);
virtual void onInit();
virtual void onOdomInit() = 0;
virtual void updateParameters(rtabmap::ParametersMap & parameters) {}
private:
rtabmap::Odometry * odometry_;
boost::thread * warningThread_;
bool callbackCalled_;
// parameters
std::string frameId_;