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Add rtabmap_msgs/SensorData (#1055)

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* Add rtabmap_msgs/SensorData

* After testing fixes

* Updated output topic name

* added explicit --logconsole for nodelets

* fixed intermediate nodes not generated

* Refactored SyncDiagnostic usage to handle nodelet name

* SyncDiagnostic: added TimeStampStatus. Odom: added new status when data not received yet

* rtabmap: Fixed parameters not updated when using nodelet
This commit is contained in:
matlabbe
2023-11-19 13:16:35 -08:00
committed by GitHub
parent 3801006832
commit 67de27b1ee
30 changed files with 1318 additions and 350 deletions
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rtabmap_odom/include/rtabmap_odom/OdometryROS.h
+9 -1
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@@ -55,7 +55,7 @@ class Odometry;
namespace rtabmap_odom {
class OdometryROS : public nodelet::Nodelet, public rtabmap_sync::SyncDiagnostic
class OdometryROS : public nodelet::Nodelet
{
public:
@@ -113,6 +113,7 @@ private:
bool waitForTransform_;
double waitForTransformDuration_;
bool publishNullWhenLost_;
bool publishCompressedSensorData_;
rtabmap::ParametersMap parameters_;
ros::Publisher odomPub_;
@@ -122,6 +123,9 @@ private:
ros::Publisher odomLocalScanMap_;
ros::Publisher odomLastFrame_;
ros::Publisher odomRgbdImagePub_;
ros::Publisher odomSensorDataPub_;
ros::Publisher odomSensorDataFeaturesPub_;
ros::Publisher odomSensorDataCompressedPub_;
ros::ServiceServer resetSrv_;
ros::ServiceServer resetToPoseSrv_;
ros::ServiceServer pauseSrv_;
@@ -146,6 +150,8 @@ private:
double expectedUpdateRate_;
double maxUpdateRate_;
double minUpdateRate_;
std::string compressionImgFormat_;
bool compressionParallelized_;
int odomStrategy_;
bool waitIMUToinit_;
bool imuProcessed_;
@@ -162,8 +168,10 @@ private:
void run(diagnostic_updater::DiagnosticStatusWrapper &stat);
private:
bool lost_;
bool dataReceived_;
};
OdomStatusTask statusDiagnostic_;
std::unique_ptr<rtabmap_sync::SyncDiagnostic> syncDiagnostic_;
};
}