mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-03 16:27:46 +08:00
Fixed issue #47
This commit is contained in:
matlabbe
+244
-64
@@ -1069,6 +1069,24 @@ void GuiWrapper::depthScanCallback(
|
||||
rtabmap_ros::OdomInfoConstPtr());
|
||||
}
|
||||
|
||||
void GuiWrapper::depthScanOdomInfoCallback(
|
||||
const rtabmap_ros::OdomInfoConstPtr & odomInfoMsg,
|
||||
const sensor_msgs::LaserScanConstPtr& scanMsg,
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const sensor_msgs::ImageConstPtr& imageMsg,
|
||||
const sensor_msgs::ImageConstPtr& depthMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg)
|
||||
{
|
||||
commonDepthCallback(
|
||||
odomMsg,
|
||||
imageMsg,
|
||||
depthMsg,
|
||||
cameraInfoMsg,
|
||||
scanMsg,
|
||||
sensor_msgs::PointCloud2ConstPtr(),
|
||||
odomInfoMsg);
|
||||
}
|
||||
|
||||
void GuiWrapper::depthScan3dCallback(
|
||||
const sensor_msgs::PointCloud2ConstPtr& scanMsg,
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
@@ -1086,6 +1104,24 @@ void GuiWrapper::depthScan3dCallback(
|
||||
rtabmap_ros::OdomInfoConstPtr());
|
||||
}
|
||||
|
||||
void GuiWrapper::depthScan3dOdomInfoCallback(
|
||||
const rtabmap_ros::OdomInfoConstPtr & odomInfoMsg,
|
||||
const sensor_msgs::PointCloud2ConstPtr& scanMsg,
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const sensor_msgs::ImageConstPtr& imageMsg,
|
||||
const sensor_msgs::ImageConstPtr& depthMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg)
|
||||
{
|
||||
commonDepthCallback(
|
||||
odomMsg,
|
||||
imageMsg,
|
||||
depthMsg,
|
||||
cameraInfoMsg,
|
||||
sensor_msgs::LaserScanConstPtr(),
|
||||
scanMsg,
|
||||
odomInfoMsg);
|
||||
}
|
||||
|
||||
void GuiWrapper::stereoScanCallback(
|
||||
const sensor_msgs::LaserScanConstPtr& scanMsg,
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
@@ -1105,6 +1141,26 @@ void GuiWrapper::stereoScanCallback(
|
||||
rtabmap_ros::OdomInfoConstPtr());
|
||||
}
|
||||
|
||||
void GuiWrapper::stereoScanOdomInfoCallback(
|
||||
const rtabmap_ros::OdomInfoConstPtr & odomInfoMsg,
|
||||
const sensor_msgs::LaserScanConstPtr& scanMsg,
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const sensor_msgs::ImageConstPtr& leftImageMsg,
|
||||
const sensor_msgs::ImageConstPtr& rightImageMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& leftCameraInfoMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& rightCameraInfoMsg)
|
||||
{
|
||||
commonStereoCallback(
|
||||
odomMsg,
|
||||
leftImageMsg,
|
||||
rightImageMsg,
|
||||
leftCameraInfoMsg,
|
||||
rightCameraInfoMsg,
|
||||
scanMsg,
|
||||
sensor_msgs::PointCloud2ConstPtr(),
|
||||
odomInfoMsg);
|
||||
}
|
||||
|
||||
void GuiWrapper::stereoScan3dCallback(
|
||||
const sensor_msgs::PointCloud2ConstPtr& scanMsg,
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
@@ -1124,6 +1180,26 @@ void GuiWrapper::stereoScan3dCallback(
|
||||
rtabmap_ros::OdomInfoConstPtr());
|
||||
}
|
||||
|
||||
void GuiWrapper::stereoScan3dOdomInfoCallback(
|
||||
const rtabmap_ros::OdomInfoConstPtr & odomInfoMsg,
|
||||
const sensor_msgs::PointCloud2ConstPtr& scanMsg,
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const sensor_msgs::ImageConstPtr& leftImageMsg,
|
||||
const sensor_msgs::ImageConstPtr& rightImageMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& leftCameraInfoMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& rightCameraInfoMsg)
|
||||
{
|
||||
commonStereoCallback(
|
||||
odomMsg,
|
||||
leftImageMsg,
|
||||
rightImageMsg,
|
||||
leftCameraInfoMsg,
|
||||
rightCameraInfoMsg,
|
||||
sensor_msgs::LaserScanConstPtr(),
|
||||
scanMsg,
|
||||
odomInfoMsg);
|
||||
}
|
||||
|
||||
void GuiWrapper::stereoOdomInfoCallback(
|
||||
const rtabmap_ros::OdomInfoConstPtr & odomInfoMsg,
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
@@ -1368,42 +1444,92 @@ void GuiWrapper::setupCallbacks(
|
||||
if(subscribeLaserScan2d)
|
||||
{
|
||||
scanSub_.subscribe(nh, "scan", 1);
|
||||
depthScanSync_ = new message_filters::Synchronizer<MyDepthScanSyncPolicy>(
|
||||
MyDepthScanSyncPolicy(queueSize),
|
||||
scanSub_,
|
||||
odomSub_,
|
||||
*imageSubs_[0],
|
||||
*imageDepthSubs_[0],
|
||||
*cameraInfoSubs_[0]);
|
||||
depthScanSync_->registerCallback(boost::bind(&GuiWrapper::depthScanCallback, this, _1, _2, _3, _4, _5));
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
odomInfoSub_.subscribe(nh, "odom_info", 1);
|
||||
depthScanOdomInfoSync_ = new message_filters::Synchronizer<MyDepthScanOdomInfoSyncPolicy>(
|
||||
MyDepthScanOdomInfoSyncPolicy(queueSize),
|
||||
odomInfoSub_,
|
||||
scanSub_,
|
||||
odomSub_,
|
||||
*imageSubs_[0],
|
||||
*imageDepthSubs_[0],
|
||||
*cameraInfoSubs_[0]);
|
||||
depthScanOdomInfoSync_->registerCallback(boost::bind(&GuiWrapper::depthScanOdomInfoCallback, this, _1, _2, _3, _4, _5, _6));
|
||||
|
||||
ROS_INFO("\n%s subscribed to:\n %s,\n %s,\n %s,\n %s,\n %s",
|
||||
ros::this_node::getName().c_str(),
|
||||
imageSubs_[0]->getTopic().c_str(),
|
||||
imageDepthSubs_[0]->getTopic().c_str(),
|
||||
cameraInfoSubs_[0]->getTopic().c_str(),
|
||||
odomSub_.getTopic().c_str(),
|
||||
scanSub_.getTopic().c_str());
|
||||
ROS_INFO("\n%s subscribed to:\n %s,\n %s,\n %s,\n %s,\n %s,\n %s",
|
||||
ros::this_node::getName().c_str(),
|
||||
imageSubs_[0]->getTopic().c_str(),
|
||||
imageDepthSubs_[0]->getTopic().c_str(),
|
||||
cameraInfoSubs_[0]->getTopic().c_str(),
|
||||
odomSub_.getTopic().c_str(),
|
||||
scanSub_.getTopic().c_str(),
|
||||
odomInfoSub_.getTopic().c_str());
|
||||
}
|
||||
else
|
||||
{
|
||||
depthScanSync_ = new message_filters::Synchronizer<MyDepthScanSyncPolicy>(
|
||||
MyDepthScanSyncPolicy(queueSize),
|
||||
scanSub_,
|
||||
odomSub_,
|
||||
*imageSubs_[0],
|
||||
*imageDepthSubs_[0],
|
||||
*cameraInfoSubs_[0]);
|
||||
depthScanSync_->registerCallback(boost::bind(&GuiWrapper::depthScanCallback, this, _1, _2, _3, _4, _5));
|
||||
|
||||
ROS_INFO("\n%s subscribed to:\n %s,\n %s,\n %s,\n %s,\n %s",
|
||||
ros::this_node::getName().c_str(),
|
||||
imageSubs_[0]->getTopic().c_str(),
|
||||
imageDepthSubs_[0]->getTopic().c_str(),
|
||||
cameraInfoSubs_[0]->getTopic().c_str(),
|
||||
odomSub_.getTopic().c_str(),
|
||||
scanSub_.getTopic().c_str());
|
||||
}
|
||||
}
|
||||
else if(subscribeLaserScan3d)
|
||||
{
|
||||
scan3dSub_.subscribe(nh, "scan_cloud", 1);
|
||||
depthScan3dSync_ = new message_filters::Synchronizer<MyDepthScan3dSyncPolicy>(
|
||||
MyDepthScan3dSyncPolicy(queueSize),
|
||||
scan3dSub_,
|
||||
odomSub_,
|
||||
*imageSubs_[0],
|
||||
*imageDepthSubs_[0],
|
||||
*cameraInfoSubs_[0]);
|
||||
depthScan3dSync_->registerCallback(boost::bind(&GuiWrapper::depthScan3dCallback, this, _1, _2, _3, _4, _5));
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
odomInfoSub_.subscribe(nh, "odom_info", 1);
|
||||
depthScan3dOdomInfoSync_ = new message_filters::Synchronizer<MyDepthScan3dOdomInfoSyncPolicy>(
|
||||
MyDepthScan3dOdomInfoSyncPolicy(queueSize),
|
||||
odomInfoSub_,
|
||||
scan3dSub_,
|
||||
odomSub_,
|
||||
*imageSubs_[0],
|
||||
*imageDepthSubs_[0],
|
||||
*cameraInfoSubs_[0]);
|
||||
depthScan3dOdomInfoSync_->registerCallback(boost::bind(&GuiWrapper::depthScan3dOdomInfoCallback, this, _1, _2, _3, _4, _5, _6));
|
||||
|
||||
ROS_INFO("\n%s subscribed to:\n %s,\n %s,\n %s,\n %s,\n %s",
|
||||
ros::this_node::getName().c_str(),
|
||||
imageSubs_[0]->getTopic().c_str(),
|
||||
imageDepthSubs_[0]->getTopic().c_str(),
|
||||
cameraInfoSubs_[0]->getTopic().c_str(),
|
||||
odomSub_.getTopic().c_str(),
|
||||
scan3dSub_.getTopic().c_str());
|
||||
ROS_INFO("\n%s subscribed to:\n %s,\n %s,\n %s,\n %s,\n %s,\n %s",
|
||||
ros::this_node::getName().c_str(),
|
||||
imageSubs_[0]->getTopic().c_str(),
|
||||
imageDepthSubs_[0]->getTopic().c_str(),
|
||||
cameraInfoSubs_[0]->getTopic().c_str(),
|
||||
odomSub_.getTopic().c_str(),
|
||||
scan3dSub_.getTopic().c_str(),
|
||||
odomInfoSub_.getTopic().c_str());
|
||||
}
|
||||
else
|
||||
{
|
||||
depthScan3dSync_ = new message_filters::Synchronizer<MyDepthScan3dSyncPolicy>(
|
||||
MyDepthScan3dSyncPolicy(queueSize),
|
||||
scan3dSub_,
|
||||
odomSub_,
|
||||
*imageSubs_[0],
|
||||
*imageDepthSubs_[0],
|
||||
*cameraInfoSubs_[0]);
|
||||
depthScan3dSync_->registerCallback(boost::bind(&GuiWrapper::depthScan3dCallback, this, _1, _2, _3, _4, _5));
|
||||
|
||||
ROS_INFO("\n%s subscribed to:\n %s,\n %s,\n %s,\n %s,\n %s",
|
||||
ros::this_node::getName().c_str(),
|
||||
imageSubs_[0]->getTopic().c_str(),
|
||||
imageDepthSubs_[0]->getTopic().c_str(),
|
||||
cameraInfoSubs_[0]->getTopic().c_str(),
|
||||
odomSub_.getTopic().c_str(),
|
||||
scan3dSub_.getTopic().c_str());
|
||||
}
|
||||
}
|
||||
else if(subscribeOdomInfo)
|
||||
{
|
||||
@@ -1593,46 +1719,100 @@ void GuiWrapper::setupCallbacks(
|
||||
if(subscribeLaserScan2d)
|
||||
{
|
||||
scanSub_.subscribe(nh, "scan", 1);
|
||||
stereoScanSync_ = new message_filters::Synchronizer<MyStereoScanSyncPolicy>(
|
||||
MyStereoScanSyncPolicy(queueSize),
|
||||
scanSub_,
|
||||
odomSub_,
|
||||
imageRectLeft_,
|
||||
imageRectRight_,
|
||||
cameraInfoLeft_,
|
||||
cameraInfoRight_);
|
||||
stereoScanSync_->registerCallback(boost::bind(&GuiWrapper::stereoScanCallback, this, _1, _2, _3, _4, _5, _6));
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
odomInfoSub_.subscribe(nh, "odom_info", 1);
|
||||
stereoScanOdomInfoSync_ = new message_filters::Synchronizer<MyStereoScanOdomInfoSyncPolicy>(
|
||||
MyStereoScanOdomInfoSyncPolicy(queueSize),
|
||||
odomInfoSub_,
|
||||
scanSub_,
|
||||
odomSub_,
|
||||
imageRectLeft_,
|
||||
imageRectRight_,
|
||||
cameraInfoLeft_,
|
||||
cameraInfoRight_);
|
||||
stereoScanOdomInfoSync_->registerCallback(boost::bind(&GuiWrapper::stereoScanOdomInfoCallback, this, _1, _2, _3, _4, _5, _6, _7));
|
||||
|
||||
ROS_INFO("\n%s subscribed to:\n %s,\n %s,\n %s,\n %s,\n %s,\n %s",
|
||||
ros::this_node::getName().c_str(),
|
||||
imageRectLeft_.getTopic().c_str(),
|
||||
imageRectRight_.getTopic().c_str(),
|
||||
cameraInfoLeft_.getTopic().c_str(),
|
||||
cameraInfoRight_.getTopic().c_str(),
|
||||
odomSub_.getTopic().c_str(),
|
||||
scanSub_.getTopic().c_str());
|
||||
ROS_INFO("\n%s subscribed to:\n %s,\n %s,\n %s,\n %s,\n %s,\n %s,\n %s",
|
||||
ros::this_node::getName().c_str(),
|
||||
imageRectLeft_.getTopic().c_str(),
|
||||
imageRectRight_.getTopic().c_str(),
|
||||
cameraInfoLeft_.getTopic().c_str(),
|
||||
cameraInfoRight_.getTopic().c_str(),
|
||||
odomSub_.getTopic().c_str(),
|
||||
scanSub_.getTopic().c_str(),
|
||||
odomInfoSub_.getTopic().c_str());
|
||||
}
|
||||
else
|
||||
{
|
||||
stereoScanSync_ = new message_filters::Synchronizer<MyStereoScanSyncPolicy>(
|
||||
MyStereoScanSyncPolicy(queueSize),
|
||||
scanSub_,
|
||||
odomSub_,
|
||||
imageRectLeft_,
|
||||
imageRectRight_,
|
||||
cameraInfoLeft_,
|
||||
cameraInfoRight_);
|
||||
stereoScanSync_->registerCallback(boost::bind(&GuiWrapper::stereoScanCallback, this, _1, _2, _3, _4, _5, _6));
|
||||
|
||||
ROS_INFO("\n%s subscribed to:\n %s,\n %s,\n %s,\n %s,\n %s,\n %s",
|
||||
ros::this_node::getName().c_str(),
|
||||
imageRectLeft_.getTopic().c_str(),
|
||||
imageRectRight_.getTopic().c_str(),
|
||||
cameraInfoLeft_.getTopic().c_str(),
|
||||
cameraInfoRight_.getTopic().c_str(),
|
||||
odomSub_.getTopic().c_str(),
|
||||
scanSub_.getTopic().c_str());
|
||||
}
|
||||
}
|
||||
else if(subscribeLaserScan3d)
|
||||
{
|
||||
scan3dSub_.subscribe(nh, "scan_cloud", 1);
|
||||
stereoScan3dSync_ = new message_filters::Synchronizer<MyStereoScan3dSyncPolicy>(
|
||||
MyStereoScan3dSyncPolicy(queueSize),
|
||||
scan3dSub_,
|
||||
odomSub_,
|
||||
imageRectLeft_,
|
||||
imageRectRight_,
|
||||
cameraInfoLeft_,
|
||||
cameraInfoRight_);
|
||||
stereoScan3dSync_->registerCallback(boost::bind(&GuiWrapper::stereoScan3dCallback, this, _1, _2, _3, _4, _5, _6));
|
||||
if(subscribeOdomInfo)
|
||||
{
|
||||
odomInfoSub_.subscribe(nh, "odom_info", 1);
|
||||
stereoScan3dOdomInfoSync_ = new message_filters::Synchronizer<MyStereoScan3dOdomInfoSyncPolicy>(
|
||||
MyStereoScan3dOdomInfoSyncPolicy(queueSize),
|
||||
odomInfoSub_,
|
||||
scan3dSub_,
|
||||
odomSub_,
|
||||
imageRectLeft_,
|
||||
imageRectRight_,
|
||||
cameraInfoLeft_,
|
||||
cameraInfoRight_);
|
||||
stereoScan3dOdomInfoSync_->registerCallback(boost::bind(&GuiWrapper::stereoScan3dOdomInfoCallback, this, _1, _2, _3, _4, _5, _6, _7));
|
||||
|
||||
ROS_INFO("\n%s subscribed to:\n %s,\n %s,\n %s,\n %s,\n %s,\n %s",
|
||||
ros::this_node::getName().c_str(),
|
||||
imageRectLeft_.getTopic().c_str(),
|
||||
imageRectRight_.getTopic().c_str(),
|
||||
cameraInfoLeft_.getTopic().c_str(),
|
||||
cameraInfoRight_.getTopic().c_str(),
|
||||
odomSub_.getTopic().c_str(),
|
||||
scan3dSub_.getTopic().c_str());
|
||||
ROS_INFO("\n%s subscribed to:\n %s,\n %s,\n %s,\n %s,\n %s,\n %s,\n %s",
|
||||
ros::this_node::getName().c_str(),
|
||||
imageRectLeft_.getTopic().c_str(),
|
||||
imageRectRight_.getTopic().c_str(),
|
||||
cameraInfoLeft_.getTopic().c_str(),
|
||||
cameraInfoRight_.getTopic().c_str(),
|
||||
odomSub_.getTopic().c_str(),
|
||||
scan3dSub_.getTopic().c_str(),
|
||||
odomInfoSub_.getTopic().c_str());
|
||||
}
|
||||
else
|
||||
{
|
||||
stereoScan3dSync_ = new message_filters::Synchronizer<MyStereoScan3dSyncPolicy>(
|
||||
MyStereoScan3dSyncPolicy(queueSize),
|
||||
scan3dSub_,
|
||||
odomSub_,
|
||||
imageRectLeft_,
|
||||
imageRectRight_,
|
||||
cameraInfoLeft_,
|
||||
cameraInfoRight_);
|
||||
stereoScan3dSync_->registerCallback(boost::bind(&GuiWrapper::stereoScan3dCallback, this, _1, _2, _3, _4, _5, _6));
|
||||
|
||||
ROS_INFO("\n%s subscribed to:\n %s,\n %s,\n %s,\n %s,\n %s,\n %s",
|
||||
ros::this_node::getName().c_str(),
|
||||
imageRectLeft_.getTopic().c_str(),
|
||||
imageRectRight_.getTopic().c_str(),
|
||||
cameraInfoLeft_.getTopic().c_str(),
|
||||
cameraInfoRight_.getTopic().c_str(),
|
||||
odomSub_.getTopic().c_str(),
|
||||
scan3dSub_.getTopic().c_str());
|
||||
}
|
||||
}
|
||||
else if(subscribeOdomInfo)
|
||||
{
|
||||
|
||||
@@ -150,12 +150,26 @@ private:
|
||||
const sensor_msgs::ImageConstPtr& imageMsg,
|
||||
const sensor_msgs::ImageConstPtr& imageDepthMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& camInfoMsg);
|
||||
void depthScanOdomInfoCallback(
|
||||
const rtabmap_ros::OdomInfoConstPtr & odomInfoMsg,
|
||||
const sensor_msgs::LaserScanConstPtr& scanMsg,
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const sensor_msgs::ImageConstPtr& imageMsg,
|
||||
const sensor_msgs::ImageConstPtr& imageDepthMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& camInfoMsg);
|
||||
void depthScan3dCallback(
|
||||
const sensor_msgs::PointCloud2ConstPtr& scanMsg,
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const sensor_msgs::ImageConstPtr& imageMsg,
|
||||
const sensor_msgs::ImageConstPtr& imageDepthMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& camInfoMsg);
|
||||
void depthScan3dOdomInfoCallback(
|
||||
const rtabmap_ros::OdomInfoConstPtr & odomInfoMsg,
|
||||
const sensor_msgs::PointCloud2ConstPtr& scanMsg,
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const sensor_msgs::ImageConstPtr& imageMsg,
|
||||
const sensor_msgs::ImageConstPtr& imageDepthMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& camInfoMsg);
|
||||
|
||||
void stereoScanCallback(
|
||||
const sensor_msgs::LaserScanConstPtr& scanMsg,
|
||||
@@ -164,6 +178,14 @@ private:
|
||||
const sensor_msgs::ImageConstPtr& rightImageMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& leftCameraInfoMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& rightCameraInfoMsg);
|
||||
void stereoScanOdomInfoCallback(
|
||||
const rtabmap_ros::OdomInfoConstPtr & odomInfoMsg,
|
||||
const sensor_msgs::LaserScanConstPtr& scanMsg,
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const sensor_msgs::ImageConstPtr& leftImageMsg,
|
||||
const sensor_msgs::ImageConstPtr& rightImageMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& leftCameraInfoMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& rightCameraInfoMsg);
|
||||
void stereoScan3dCallback(
|
||||
const sensor_msgs::PointCloud2ConstPtr& scanMsg,
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
@@ -171,6 +193,14 @@ private:
|
||||
const sensor_msgs::ImageConstPtr& rightImageMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& leftCameraInfoMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& rightCameraInfoMsg);
|
||||
void stereoScan3dOdomInfoCallback(
|
||||
const rtabmap_ros::OdomInfoConstPtr & odomInfoMsg,
|
||||
const sensor_msgs::PointCloud2ConstPtr& scanMsg,
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const sensor_msgs::ImageConstPtr& leftImageMsg,
|
||||
const sensor_msgs::ImageConstPtr& rightImageMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& leftCameraInfoMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& rightCameraInfoMsg);
|
||||
void stereoOdomInfoCallback(
|
||||
const rtabmap_ros::OdomInfoConstPtr & odomInfoMsg,
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
@@ -285,6 +315,15 @@ private:
|
||||
sensor_msgs::CameraInfo> MyDepthScanSyncPolicy;
|
||||
message_filters::Synchronizer<MyDepthScanSyncPolicy> * depthScanSync_;
|
||||
|
||||
typedef message_filters::sync_policies::ApproximateTime<
|
||||
rtabmap_ros::OdomInfo,
|
||||
sensor_msgs::LaserScan,
|
||||
nav_msgs::Odometry,
|
||||
sensor_msgs::Image,
|
||||
sensor_msgs::Image,
|
||||
sensor_msgs::CameraInfo> MyDepthScanOdomInfoSyncPolicy;
|
||||
message_filters::Synchronizer<MyDepthScanOdomInfoSyncPolicy> * depthScanOdomInfoSync_;
|
||||
|
||||
typedef message_filters::sync_policies::ApproximateTime<
|
||||
sensor_msgs::PointCloud2,
|
||||
nav_msgs::Odometry,
|
||||
@@ -293,6 +332,15 @@ private:
|
||||
sensor_msgs::CameraInfo> MyDepthScan3dSyncPolicy;
|
||||
message_filters::Synchronizer<MyDepthScan3dSyncPolicy> * depthScan3dSync_;
|
||||
|
||||
typedef message_filters::sync_policies::ApproximateTime<
|
||||
rtabmap_ros::OdomInfo,
|
||||
sensor_msgs::PointCloud2,
|
||||
nav_msgs::Odometry,
|
||||
sensor_msgs::Image,
|
||||
sensor_msgs::Image,
|
||||
sensor_msgs::CameraInfo> MyDepthScan3dOdomInfoSyncPolicy;
|
||||
message_filters::Synchronizer<MyDepthScan3dOdomInfoSyncPolicy> * depthScan3dOdomInfoSync_;
|
||||
|
||||
typedef message_filters::sync_policies::ApproximateTime<
|
||||
nav_msgs::Odometry,
|
||||
sensor_msgs::Image,
|
||||
@@ -325,6 +373,16 @@ private:
|
||||
sensor_msgs::CameraInfo> MyStereoScanSyncPolicy;
|
||||
message_filters::Synchronizer<MyStereoScanSyncPolicy> * stereoScanSync_;
|
||||
|
||||
typedef message_filters::sync_policies::ApproximateTime<
|
||||
rtabmap_ros::OdomInfo,
|
||||
sensor_msgs::LaserScan,
|
||||
nav_msgs::Odometry,
|
||||
sensor_msgs::Image,
|
||||
sensor_msgs::Image,
|
||||
sensor_msgs::CameraInfo,
|
||||
sensor_msgs::CameraInfo> MyStereoScanOdomInfoSyncPolicy;
|
||||
message_filters::Synchronizer<MyStereoScanOdomInfoSyncPolicy> * stereoScanOdomInfoSync_;
|
||||
|
||||
typedef message_filters::sync_policies::ApproximateTime<
|
||||
sensor_msgs::PointCloud2,
|
||||
nav_msgs::Odometry,
|
||||
@@ -334,6 +392,16 @@ private:
|
||||
sensor_msgs::CameraInfo> MyStereoScan3dSyncPolicy;
|
||||
message_filters::Synchronizer<MyStereoScan3dSyncPolicy> * stereoScan3dSync_;
|
||||
|
||||
typedef message_filters::sync_policies::ApproximateTime<
|
||||
rtabmap_ros::OdomInfo,
|
||||
sensor_msgs::PointCloud2,
|
||||
nav_msgs::Odometry,
|
||||
sensor_msgs::Image,
|
||||
sensor_msgs::Image,
|
||||
sensor_msgs::CameraInfo,
|
||||
sensor_msgs::CameraInfo> MyStereoScan3dOdomInfoSyncPolicy;
|
||||
message_filters::Synchronizer<MyStereoScan3dOdomInfoSyncPolicy> * stereoScan3dOdomInfoSync_;
|
||||
|
||||
typedef message_filters::sync_policies::ApproximateTime<
|
||||
rtabmap_ros::OdomInfo,
|
||||
nav_msgs::Odometry,
|
||||
|
||||
Reference in New Issue
Block a user