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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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launch/rtabmap.launch
+5 -1
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@@ -36,7 +36,10 @@
<arg name="wait_for_transform" default="0.2"/>
<arg name="rtabmap_args" default=""/> <!-- delete_db_on_start, udebug -->
<arg name="launch_prefix" default=""/> <!-- for debugging purpose, it fills launch-prefix tag of the nodes -->
<arg name="approx_sync" default="true"/> <!-- if timestamps of the input topics are not synchronized -->
<!-- if timestamps of the input topics are synchronized using approximate or exact time policy-->
<arg if="$(arg stereo)" name="approx_sync" default="false"/>
<arg unless="$(arg stereo)" name="approx_sync" default="true"/>
<!-- RGB-D related topics -->
<arg name="rgb_topic" default="/camera/rgb/image_rect_color" />
@@ -163,6 +166,7 @@
<param name="odom_frame_id" type="string" value="$(arg odom_frame_id)"/>
<param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/>
<param name="queue_size" type="int" value="$(arg queue_size)"/>
<param name="approx_sync" type="bool" value="$(arg approx_sync)"/>
<remap from="rgb/image" to="$(arg rgb_topic_relay)"/>
<remap from="depth/image" to="$(arg depth_topic_relay)"/>