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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.

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matlabbe
2024-06-02 10:49:52 -07:00
parent 613b73f866
commit 54f9ec9c39
3 changed files with 21 additions and 13 deletions
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rtabmap_sync/include/rtabmap_sync/SyncDiagnostic.h
+8 -8
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@@ -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);
}