i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-08 10:47:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

Uniformized "approx_sync" parameter name across all nodes. Updated rgbd_mapping.launch and stereo_mapping.launch to include rtabmap.launch instead of redefining all nodes.

Browse Source
This commit is contained in:
matlabbe
2016-06-30 12:49:20 -04:00
parent 88f164e6bf
commit 77faedf9d2
7 changed files with 191 additions and 251 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/CoreWrapper.h
+12 -1
View File
@@ -90,7 +90,7 @@ private:
bool subscribeScan3d,
bool subscribeStereo,
int queueSize,
bool stereoApproxSync,
bool approxSync,
int depthCameras);
void defaultCallback(const sensor_msgs::ImageConstPtr & imageMsg); // no odom
@@ -338,6 +338,12 @@ private:
sensor_msgs::Image,
sensor_msgs::CameraInfo> MyDepthSyncPolicy;
message_filters::Synchronizer<MyDepthSyncPolicy> * depthSync_;
typedef message_filters::sync_policies::ExactTime<
sensor_msgs::Image,
nav_msgs::Odometry,
sensor_msgs::Image,
sensor_msgs::CameraInfo> MyDepthExactSyncPolicy;
message_filters::Synchronizer<MyDepthExactSyncPolicy> * depthExactSync_;
typedef message_filters::sync_policies::ApproximateTime<
sensor_msgs::Image,
@@ -403,6 +409,11 @@ private:
sensor_msgs::Image,
sensor_msgs::CameraInfo> MyDepthTFSyncPolicy;
message_filters::Synchronizer<MyDepthTFSyncPolicy> * depthTFSync_;
typedef message_filters::sync_policies::ExactTime<
sensor_msgs::Image,
sensor_msgs::Image,
sensor_msgs::CameraInfo> MyDepthTFExactSyncPolicy;
message_filters::Synchronizer<MyDepthTFExactSyncPolicy> * depthTFExactSync_;
typedef message_filters::sync_policies::ApproximateTime<
sensor_msgs::Image,