Added RGBDImages msg. Added rgbdx_sync to sync up to 8 cameras. For rtabmap node, rgbd_cameras=0 means subscribing to a rgbd_images topic (containing N cameras).

CMakeLists.txt

@@ -103,6 +103,7 @@ add_message_files(
    Point3f.msg
    Goal.msg
    RGBDImage.msg
+   RGBDImages.msg
    UserData.msg
    GPS.msg
    Path.msg
@@ -200,6 +201,7 @@ SET(rtabmap_sync_lib_src
    src/impl/CommonDataSubscriberStereo.cpp
    src/impl/CommonDataSubscriberRGB.cpp
    src/impl/CommonDataSubscriberRGBD.cpp
+   src/impl/CommonDataSubscriberRGBDX.cpp
    src/impl/CommonDataSubscriberScan.cpp
    src/impl/CommonDataSubscriberOdom.cpp
    src/CoreWrapper.cpp # we put CoreWrapper here instead of plugins lib to avoid long compilation time on plugins lib
@@ -240,6 +242,7 @@ SET(rtabmap_plugins_lib_src
    src/nodelets/point_cloud_assembler.cpp
    src/nodelets/undistort_depth.cpp
    src/nodelets/imu_to_tf.cpp
+   src/nodelets/rgbdx_sync.cpp
 )
 
 IF(${cv_bridge_VERSION_MAJOR} GREATER 1 OR ${cv_bridge_VERSION_MINOR} GREATER 10)
@@ -322,6 +325,10 @@ add_executable(rtabmap_rgbd_sync src/RGBDSyncNode.cpp)
 target_link_libraries(rtabmap_rgbd_sync ${Libraries})
 set_target_properties(rtabmap_rgbd_sync PROPERTIES OUTPUT_NAME "rgbd_sync")
 
+add_executable(rtabmap_rgbdx_sync src/RGBDXSyncNode.cpp)
+target_link_libraries(rtabmap_rgbdx_sync ${Libraries})
+set_target_properties(rtabmap_rgbdx_sync PROPERTIES OUTPUT_NAME "rgbdx_sync")
+
 add_executable(rtabmap_stereo_sync src/StereoSyncNode.cpp)
 target_link_libraries(rtabmap_stereo_sync ${Libraries})
 set_target_properties(rtabmap_stereo_sync PROPERTIES OUTPUT_NAME "stereo_sync")
@@ -555,6 +562,7 @@ install(TARGETS
    rtabmap_point_cloud_assembler
    rtabmap_camera
    rtabmap_rgbd_sync
+   rtabmap_rgbdx_sync
    rtabmap_rgbd_relay
    rtabmap_wifi_signal_sub
    ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}