ported rtabmap_ros_pkg_split to ros2

rtabmap_sync/include/rtabmap_sync/rgb_sync.hpp

@@ -0,0 +1,81 @@
+/*
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#include <rtabmap_sync/visibility.h>
+#include "rclcpp/rclcpp.hpp"
+
+#include <sensor_msgs/msg/image.hpp>
+#include <sensor_msgs/msg/camera_info.hpp>
+
+#include <image_transport/image_transport.hpp>
+#include <image_transport/subscriber_filter.hpp>
+
+#include <message_filters/sync_policies/approximate_time.h>
+#include <message_filters/sync_policies/exact_time.h>
+#include <message_filters/subscriber.h>
+
+#include "rtabmap_msgs/msg/rgbd_image.hpp"
+
+namespace rtabmap_sync
+{
+
+class RGBSync : public rclcpp::Node
+{
+public:
+	RTABMAP_SYNC_PUBLIC
+	explicit RGBSync(const rclcpp::NodeOptions & options);
+
+	virtual ~RGBSync();
+
+	void callback(
+			const sensor_msgs::msg::Image::ConstSharedPtr image,
+			const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfo);
+
+private:
+	double compressedRate_;
+	std::thread * warningThread_;
+	bool callbackCalled_;
+
+	rclcpp::Time lastCompressedPublished_;
+
+	std::string subscribedTopicsMsg_;
+
+	rclcpp::Publisher<rtabmap_msgs::msg::RGBDImage>::SharedPtr rgbdImagePub_;
+	rclcpp::Publisher<rtabmap_msgs::msg::RGBDImage>::SharedPtr rgbdImageCompressedPub_;
+
+	image_transport::SubscriberFilter imageSub_;
+	message_filters::Subscriber<sensor_msgs::msg::CameraInfo> cameraInfoSub_;
+
+	typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo> MyApproxSyncPolicy;
+	message_filters::Synchronizer<MyApproxSyncPolicy> * approxSync_;
+
+	typedef message_filters::sync_policies::ExactTime<sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo> MyExactSyncPolicy;
+	message_filters::Synchronizer<MyExactSyncPolicy> * exactSync_;
+};
+
+}
+