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synced 2026-10-06 17:57:45 +08:00
ported rtabmap_ros_pkg_split to ros2
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matlabbe
@@ -0,0 +1,316 @@
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/*
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Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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* Neither the name of the Universite de Sherbrooke nor the
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names of its contributors may be used to endorse or promote products
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derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
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DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#include <rtabmap_sync/rgbdx_sync.hpp>
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#include <rtabmap/utilite/ULogger.h>
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#include <rtabmap/utilite/UConversion.h>
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namespace rtabmap_sync
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{
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RGBDXSync::RGBDXSync(const rclcpp::NodeOptions & options) :
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Node("rgbd_sync", options),
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SYNC_INIT(rgbd2),
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SYNC_INIT(rgbd3),
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SYNC_INIT(rgbd4),
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SYNC_INIT(rgbd5),
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SYNC_INIT(rgbd6),
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SYNC_INIT(rgbd7),
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SYNC_INIT(rgbd8),
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warningThread_(0),
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callbackCalled_(false)
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{
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int queueSize = 10;
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bool approxSync = true;
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int rgbdCameras = 2;
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double approxSyncMaxInterval = 0.0;
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int qos = 0;
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approxSync = this->declare_parameter("approx_sync", approxSync);
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approxSyncMaxInterval = this->declare_parameter("approx_sync_max_interval", approxSyncMaxInterval);
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queueSize = this->declare_parameter("queue_size", queueSize);
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qos = this->declare_parameter("qos", qos);
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rgbdCameras = this->declare_parameter("rgbd_cameras", rgbdCameras);
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RCLCPP_INFO(this->get_logger(), "%s: approx_sync = %s", get_name(), approxSync?"true":"false");
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if(approxSync)
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RCLCPP_INFO(this->get_logger(), "%s: approx_sync_max_interval = %f", get_name(), approxSyncMaxInterval);
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RCLCPP_INFO(this->get_logger(), "%s: queue_size = %d", get_name(), queueSize);
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RCLCPP_INFO(this->get_logger(), "%s: qos = %d", get_name(), qos);
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RCLCPP_INFO(this->get_logger(), "%s: rgbd_cameras = %d", get_name(), rgbdCameras);
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rgbdImagesPub_ = this->create_publisher<rtabmap_msgs::msg::RGBDImages>("rgbd_images", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos));
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UASSERT(rgbdCameras>=2 && rgbdCameras<=8);
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rgbdSubs_.resize(rgbdCameras);
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for(int i=0; i<rgbdCameras; ++i)
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{
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rgbdSubs_[i] = new message_filters::Subscriber<rtabmap_msgs::msg::RGBDImage>;
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rgbdSubs_[i]->subscribe(this, uFormat("rgbd_image%d", i), rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
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}
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std::string name_ = get_name();
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std::string subscribedTopicsMsg_;
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if(rgbdCameras==2)
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{
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SYNC_DECL2(RGBDXSync, rgbd2, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]));
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if(approxSync && approxSyncMaxInterval>0.0)
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{
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rgbd2ApproximateSync_->setMaxIntervalDuration(rclcpp::Duration::from_seconds(approxSyncMaxInterval));
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}
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}
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else if(rgbdCameras==3)
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{
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SYNC_DECL3(RGBDXSync, rgbd3, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]));
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if(approxSync && approxSyncMaxInterval>0.0)
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{
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rgbd3ApproximateSync_->setMaxIntervalDuration(rclcpp::Duration::from_seconds(approxSyncMaxInterval));
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}
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}
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else if(rgbdCameras==4)
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{
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SYNC_DECL4(RGBDXSync, rgbd4, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]));
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if(approxSync && approxSyncMaxInterval>0.0)
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{
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rgbd4ApproximateSync_->setMaxIntervalDuration(rclcpp::Duration::from_seconds(approxSyncMaxInterval));
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}
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}
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else if(rgbdCameras==5)
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{
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SYNC_DECL5(RGBDXSync, rgbd5, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]));
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if(approxSync && approxSyncMaxInterval>0.0)
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{
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rgbd5ApproximateSync_->setMaxIntervalDuration(rclcpp::Duration::from_seconds(approxSyncMaxInterval));
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}
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}
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else if(rgbdCameras==6)
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{
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SYNC_DECL6(RGBDXSync, rgbd6, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), (*rgbdSubs_[5]));
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if(approxSync && approxSyncMaxInterval>0.0)
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{
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rgbd6ApproximateSync_->setMaxIntervalDuration(rclcpp::Duration::from_seconds(approxSyncMaxInterval));
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}
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}
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else if(rgbdCameras==7)
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{
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SYNC_DECL7(RGBDXSync, rgbd7, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), (*rgbdSubs_[5]), (*rgbdSubs_[6]));
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if(approxSync && approxSyncMaxInterval>0.0)
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{
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rgbd7ApproximateSync_->setMaxIntervalDuration(rclcpp::Duration::from_seconds(approxSyncMaxInterval));
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}
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}
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else if(rgbdCameras==8)
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{
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SYNC_DECL8(RGBDXSync, rgbd8, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), (*rgbdSubs_[5]), (*rgbdSubs_[6]), (*rgbdSubs_[7]));
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if(approxSync && approxSyncMaxInterval>0.0)
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{
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rgbd8ApproximateSync_->setMaxIntervalDuration(rclcpp::Duration::from_seconds(approxSyncMaxInterval));
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}
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}
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RCLCPP_INFO(this->get_logger(), "%s%s", subscribedTopicsMsg_.c_str(),
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approxSync&&approxSyncMaxInterval!=0.0?uFormat(" (approx sync max interval=%fs)", approxSyncMaxInterval).c_str():"");
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warningThread_ = new std::thread([&](){
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rclcpp::Rate r(1/5.0);
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while(!callbackCalled_)
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{
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r.sleep();
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if(!callbackCalled_)
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{
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RCLCPP_WARN(this->get_logger(),
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"%s: Did not receive data since 5 seconds! Make sure the input topics are "
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"published (\"$ rostopic hz my_topic\") and the timestamps in their "
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"header are set. %s%s",
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this->get_name(),
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approxSync?"":"Parameter \"approx_sync\" is false, which means that input "
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"topics should have all the exact timestamp for the callback to be called.",
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subscribedTopicsMsg_.c_str());
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}
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}
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});
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}
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RGBDXSync::~RGBDXSync()
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{
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SYNC_DEL(rgbd2);
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SYNC_DEL(rgbd3);
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SYNC_DEL(rgbd4);
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SYNC_DEL(rgbd5);
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SYNC_DEL(rgbd6);
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SYNC_DEL(rgbd7);
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SYNC_DEL(rgbd8);
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if(warningThread_)
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{
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callbackCalled_=true;
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warningThread_->join();
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delete warningThread_;
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}
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}
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void RGBDXSync::rgbd2Callback(
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image0,
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image1)
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{
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callbackCalled_ = true;
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rtabmap_msgs::msg::RGBDImages output;
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output.header = image0->header;
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output.rgbd_images.resize(2);
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output.rgbd_images[0]=(*image0);
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output.rgbd_images[1]=(*image1);
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rgbdImagesPub_->publish(output);
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}
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void RGBDXSync::rgbd3Callback(
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image0,
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image1,
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image2)
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{
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callbackCalled_ = true;
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rtabmap_msgs::msg::RGBDImages output;
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output.header = image0->header;
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output.rgbd_images.resize(3);
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output.rgbd_images[0]=(*image0);
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output.rgbd_images[1]=(*image1);
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output.rgbd_images[2]=(*image2);
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rgbdImagesPub_->publish(output);
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}
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void RGBDXSync::rgbd4Callback(
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image0,
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image1,
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image2,
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image3)
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{
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callbackCalled_ = true;
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rtabmap_msgs::msg::RGBDImages output;
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output.header = image0->header;
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output.rgbd_images.resize(4);
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output.rgbd_images[0]=(*image0);
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output.rgbd_images[1]=(*image1);
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output.rgbd_images[2]=(*image2);
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output.rgbd_images[3]=(*image3);
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rgbdImagesPub_->publish(output);
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}
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void RGBDXSync::rgbd5Callback(
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image0,
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image1,
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image2,
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image3,
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image4)
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{
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callbackCalled_ = true;
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rtabmap_msgs::msg::RGBDImages output;
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output.header = image0->header;
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output.rgbd_images.resize(5);
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output.rgbd_images[0]=(*image0);
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output.rgbd_images[1]=(*image1);
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output.rgbd_images[2]=(*image2);
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output.rgbd_images[3]=(*image3);
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output.rgbd_images[4]=(*image4);
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rgbdImagesPub_->publish(output);
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}
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void RGBDXSync::rgbd6Callback(
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image0,
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image1,
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image2,
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image3,
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image4,
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image5)
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{
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callbackCalled_ = true;
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rtabmap_msgs::msg::RGBDImages output;
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output.header = image0->header;
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output.rgbd_images.resize(6);
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output.rgbd_images[0]=(*image0);
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output.rgbd_images[1]=(*image1);
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output.rgbd_images[2]=(*image2);
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output.rgbd_images[3]=(*image3);
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output.rgbd_images[4]=(*image4);
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output.rgbd_images[5]=(*image5);
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rgbdImagesPub_->publish(output);
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}
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void RGBDXSync::rgbd7Callback(
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image0,
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image1,
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image2,
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image3,
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image4,
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image5,
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image6)
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{
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callbackCalled_ = true;
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rtabmap_msgs::msg::RGBDImages output;
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output.header = image0->header;
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output.rgbd_images.resize(7);
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output.rgbd_images[0]=(*image0);
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output.rgbd_images[1]=(*image1);
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output.rgbd_images[2]=(*image2);
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output.rgbd_images[3]=(*image3);
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output.rgbd_images[4]=(*image4);
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output.rgbd_images[5]=(*image5);
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output.rgbd_images[6]=(*image6);
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rgbdImagesPub_->publish(output);
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}
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void RGBDXSync::rgbd8Callback(
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image0,
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image1,
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image2,
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image3,
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image4,
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image5,
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image6,
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const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image7)
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{
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callbackCalled_ = true;
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rtabmap_msgs::msg::RGBDImages output;
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output.header = image0->header;
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output.rgbd_images.resize(8);
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output.rgbd_images[0]=(*image0);
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output.rgbd_images[1]=(*image1);
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output.rgbd_images[2]=(*image2);
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output.rgbd_images[3]=(*image3);
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output.rgbd_images[4]=(*image4);
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output.rgbd_images[5]=(*image5);
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output.rgbd_images[6]=(*image6);
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output.rgbd_images[7]=(*image7);
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rgbdImagesPub_->publish(output);
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}
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}
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#include "rclcpp_components/register_node_macro.hpp"
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// Register the component with class_loader.
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// This acts as a sort of entry point, allowing the component to be discoverable when its library
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// is being loaded into a running process.
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RCLCPP_COMPONENTS_REGISTER_NODE(rtabmap_sync::RGBDXSync)
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