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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_sync/src/nodelets/rgbd_sync.cpp
+6 -3
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@@ -58,7 +58,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
namespace rtabmap_sync
{
class RGBDSync : public nodelet::Nodelet, public SyncDiagnostic
class RGBDSync : public nodelet::Nodelet
{
public:
RGBDSync() :
@@ -142,7 +142,8 @@ private:
cameraInfoSub_.getTopic().c_str());
NODELET_INFO(subscribedTopicsMsg.c_str());
initDiagnostic(rgb_nh.resolveName("image"),
syncDiagnostic_.reset(new SyncDiagnostic(nh, pnh, getName()));
syncDiagnostic_->init(rgb_nh.resolveName("image"),
uFormat("%s: Did not receive data since 5 seconds! Make sure the input topics are "
"published (\"$ rostopic hz my_topic\") and the timestamps in their "
"header are set. %s%s",
@@ -157,7 +158,7 @@ private:
const sensor_msgs::ImageConstPtr& depth,
const sensor_msgs::CameraInfoConstPtr& cameraInfo)
{
tick(image->header.stamp);
syncDiagnostic_->tick(image->header.stamp);
if(rgbdImagePub_.getNumSubscribers() || rgbdImageCompressedPub_.getNumSubscribers())
{
@@ -304,6 +305,8 @@ private:
typedef message_filters::sync_policies::ExactTime<sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo> MyExactSyncDepthPolicy;
message_filters::Synchronizer<MyExactSyncDepthPolicy> * exactSyncDepth_;
std::unique_ptr<SyncDiagnostic> syncDiagnostic_;
};
PLUGINLIB_EXPORT_CLASS(rtabmap_sync::RGBDSync, nodelet::Nodelet);