Fixed diagnostic clock with sim time. Updated docker example with explicit OMP_WAIT_POLICY=passive to avoid high CPU usage. Added log_level argument to rtabmap.launch.py.

docker/README.md

@@ -13,6 +13,7 @@
     docker run -it --rm \
      --user $UID \
      -e ROS_HOME=/tmp/.ros \
+     -e OMP_WAIT_POLICY=passive \
      --network=host \
      --ipc=host \
      -v ~/.ros:/tmp/.ros \
@@ -35,6 +36,7 @@
       -e NVIDIA_VISIBLE_DEVICES=all \
       -e NVIDIA_DRIVER_CAPABILITIES=all \
       -e XAUTHORITY=$XAUTH \
+      -e OMP_WAIT_POLICY=passive \
       --user $UID \
       -e ROS_HOME=/tmp/.ros \
       -v ~/.ros:/tmp/.ros \

rtabmap_launch/launch/rtabmap.launch.py

@@ -52,6 +52,8 @@ def launch_setup(context, *args, **kwargs):
         DeclareLaunchArgument('qos_user_data',   default_value=LaunchConfiguration('qos'), description='Specific QoS used for user input data: 0=system default, 1=Reliable, 2=Best Effort.'),
         DeclareLaunchArgument('qos_imu',         default_value=LaunchConfiguration('qos'), description='Specific QoS used for imu input data: 0=system default, 1=Reliable, 2=Best Effort.'),
         DeclareLaunchArgument('qos_gps',         default_value=LaunchConfiguration('qos'), description='Specific QoS used for gps input data: 0=system default, 1=Reliable, 2=Best Effort.'),
+
+        DeclareLaunchArgument('odom_log_level',  default_value=LaunchConfiguration('log_level'), description='Specific ROS logger level for odometry node.'),
         
         #These arguments should not be modified directly, see referred topics without "_relay" suffix above
         DeclareLaunchArgument('rgb_topic_relay',      default_value=ConditionalText(''.join([LaunchConfiguration('rgb_topic').perform(context), "_relay"]), ''.join(LaunchConfiguration('rgb_topic').perform(context)), LaunchConfiguration('compressed').perform(context)), description='Should not be modified manually!'),
@@ -182,7 +184,7 @@ def launch_setup(context, *args, **kwargs):
                 ("rgbd_image", LaunchConfiguration('rgbd_topic_relay')),
                 ("odom", LaunchConfiguration('odom_topic')),
                 ("imu", LaunchConfiguration('imu_topic'))],
-            arguments=[LaunchConfiguration("args"), LaunchConfiguration("odom_args")],
+            arguments=[LaunchConfiguration("args"), LaunchConfiguration("odom_args"), "--ros-args", "--log-level", [LaunchConfiguration('namespace'), '.rgbd_odometry:=', LaunchConfiguration('odom_log_level')], "--log-level", ['rgbd_odometry:=', LaunchConfiguration('odom_log_level')]],
             prefix=LaunchConfiguration('launch_prefix'),
             namespace=LaunchConfiguration('namespace')),
         
@@ -217,7 +219,7 @@ def launch_setup(context, *args, **kwargs):
                 ("rgbd_image", LaunchConfiguration('rgbd_topic_relay')),
                 ("odom", LaunchConfiguration('odom_topic')),
                 ("imu", LaunchConfiguration('imu_topic'))],
-            arguments=[LaunchConfiguration("args"), LaunchConfiguration("odom_args")],
+            arguments=[LaunchConfiguration("args"), LaunchConfiguration("odom_args"), "--ros-args", "--log-level", [LaunchConfiguration('namespace'), '.stereo_odometry:=', LaunchConfiguration('odom_log_level')], "--log-level", ['stereo_odometry:=', LaunchConfiguration('odom_log_level')]],
             prefix=LaunchConfiguration('launch_prefix'),
             namespace=LaunchConfiguration('namespace')),
             
@@ -246,7 +248,7 @@ def launch_setup(context, *args, **kwargs):
                 ("scan_cloud", LaunchConfiguration('scan_cloud_topic')),
                 ("odom", LaunchConfiguration('odom_topic')),
                 ("imu", LaunchConfiguration('imu_topic'))],
-            arguments=[LaunchConfiguration("args"), LaunchConfiguration("odom_args")],
+            arguments=[LaunchConfiguration("args"), LaunchConfiguration("odom_args"), "--ros-args", "--log-level", [LaunchConfiguration('namespace'), '.icp_odometry:=', LaunchConfiguration('odom_log_level')], "--log-level", ['icp_odometry:=', LaunchConfiguration('odom_log_level')]],
             prefix=LaunchConfiguration('launch_prefix'),
             namespace=LaunchConfiguration('namespace')),
 
@@ -290,6 +292,7 @@ def launch_setup(context, *args, **kwargs):
                 "Mem/InitWMWithAllNodes": ConditionalText("true", "false", IfCondition(PythonExpression(["'", LaunchConfiguration('localization'), "' == 'true'"]))._predicate_func(context)).perform(context)
             }],
             remappings=[
+                ("map", LaunchConfiguration('map_topic')),
                 ("rgb/image", LaunchConfiguration('rgb_topic_relay')),
                 ("depth/image", LaunchConfiguration('depth_topic_relay')),
                 ("rgb/camera_info", LaunchConfiguration('camera_info_topic')),
@@ -307,7 +310,7 @@ def launch_setup(context, *args, **kwargs):
                 ("fiducial_transforms", LaunchConfiguration('fiducial_topic')),
                 ("odom", LaunchConfiguration('odom_topic')),
                 ("imu", LaunchConfiguration('imu_topic'))],
-            arguments=[LaunchConfiguration("args")],
+            arguments=[LaunchConfiguration("args"), "--ros-args", "--log-level", [LaunchConfiguration('namespace'), '.rtabmap:=', LaunchConfiguration('log_level')], "--log-level", ['rtabmap:=', LaunchConfiguration('log_level')]],
             prefix=LaunchConfiguration('launch_prefix'),
             namespace=LaunchConfiguration('namespace')),
 
@@ -346,7 +349,7 @@ def launch_setup(context, *args, **kwargs):
                 ("scan_cloud", LaunchConfiguration('scan_cloud_topic')),
                 ("odom", LaunchConfiguration('odom_topic'))],
             condition=IfCondition(LaunchConfiguration("rtabmap_viz")),
-            arguments=[LaunchConfiguration("gui_cfg")],
+            arguments=[LaunchConfiguration("gui_cfg"), "--ros-args", "--log-level", [LaunchConfiguration('namespace'), '.rtabmap_viz:=', LaunchConfiguration('log_level')], "--log-level", ['rtabmap_viz:=', LaunchConfiguration('log_level')]],
             prefix=LaunchConfiguration('launch_prefix'),
             namespace=LaunchConfiguration('namespace')),
         Node(
@@ -391,6 +394,8 @@ def generate_launch_description():
 
         DeclareLaunchArgument('use_sim_time', default_value='false', description='Use simulation (Gazebo) clock if true'),
 
+        DeclareLaunchArgument('log_level',    default_value='info', description="ROS logging level (debug, info, warn, error). For RTAB-Map\'s logger level, use \"args\" argument."),
+
         # Config files
         DeclareLaunchArgument('cfg',      default_value='',                        description='To change RTAB-Map\'s parameters, set the path of config file (*.ini) generated by the standalone app.'),
         DeclareLaunchArgument('gui_cfg',  default_value='~/.ros/rtabmap_gui.ini',  description='Configuration path of rtabmap_viz.'),
@@ -399,6 +404,7 @@ def generate_launch_description():
         DeclareLaunchArgument('frame_id',       default_value='base_link',          description='Fixed frame id of the robot (base frame), you may set "base_link" or "base_footprint" if they are published. For camera-only config, this could be "camera_link".'),
         DeclareLaunchArgument('odom_frame_id',  default_value='',                   description='If set, TF is used to get odometry instead of the topic.'),
         DeclareLaunchArgument('map_frame_id',   default_value='map',                description='Output map frame id (TF).'),
+        DeclareLaunchArgument('map_topic',      default_value='map',                description='Map topic name.'),
         DeclareLaunchArgument('publish_tf_map', default_value='true',               description='Publish TF between map and odomerty.'),
         DeclareLaunchArgument('namespace',      default_value='rtabmap',            description=''),
         DeclareLaunchArgument('database_path',  default_value='~/.ros/rtabmap.db',  description='Where is the map saved/loaded.'),

rtabmap_sync/include/rtabmap_sync/SyncDiagnostic.h

@@ -16,14 +16,14 @@ namespace rtabmap_sync {
 class SyncDiagnostic {
     public:
         SyncDiagnostic(rclcpp::Node * node, double tolerance = 0.1, int windowSize = 5) :
-        	node_(node),
-			diagnosticUpdater_(node),
-            frequencyStatus_(diagnostic_updater::FrequencyStatusParam(&targetFrequency_, &targetFrequency_, tolerance)),
-			timeStampStatus_(diagnostic_updater::TimeStampStatusParam()),
-			compositeTask_("Sync status"),
-            lastCallbackCalledStamp_(rtabmap_conversions::timestampFromROS(node_->now())-1),
-            targetFrequency_(0.0),
-            windowSize_(windowSize)
+		node_(node),
+		diagnosticUpdater_(node),
+		frequencyStatus_(diagnostic_updater::FrequencyStatusParam(&targetFrequency_, &targetFrequency_, tolerance), node->get_clock()),
+		timeStampStatus_(diagnostic_updater::TimeStampStatusParam(), node->get_clock()),
+		compositeTask_("Sync status"),
+		lastCallbackCalledStamp_(rtabmap_conversions::timestampFromROS(node_->now())-1),
+		targetFrequency_(0.0),
+		windowSize_(windowSize)
     {
         UASSERT(windowSize_ >= 1);
     }