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Added queue_size to individual odom and odom_info subscribers when using message_filters

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This commit is contained in:
matlabbe
2020-08-18 17:37:28 -04:00
parent e96f72d4ab
commit 7c48684736
9 changed files with 126 additions and 126 deletions
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src/impl/CommonDataSubscriberRGBD4.cpp
+18 -18
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@@ -608,7 +608,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
#ifdef RTABMAP_SYNC_USER_DATA
if(subscribeOdom && subscribeUserData)
{
odomSub_.subscribe(nh, "odom", 1);
odomSub_.subscribe(nh, "odom", queueSize);
userDataSub_.subscribe(nh, "user_data", 1);
if(subscribeScanDesc)
{
@@ -617,7 +617,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL8(rgbd4OdomDataScanDescInfo, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scanDescSub_, odomInfoSub_);
}
else
@@ -632,7 +632,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL8(rgbd4OdomDataScan2dInfo, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scanSub_, odomInfoSub_);
}
else
@@ -647,7 +647,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL8(rgbd4OdomDataScan3dInfo, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scan3dSub_, odomInfoSub_);
}
else
@@ -658,7 +658,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
else if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL7(rgbd4OdomDataInfo, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), odomInfoSub_);
}
else
@@ -670,7 +670,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
#endif
if(subscribeOdom)
{
odomSub_.subscribe(nh, "odom", 1);
odomSub_.subscribe(nh, "odom", queueSize);
if(subscribeScanDesc)
{
subscribedToScanDescriptor_ = true;
@@ -678,7 +678,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL7(rgbd4OdomScanDescInfo, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scanDescSub_, odomInfoSub_);
}
else
@@ -693,7 +693,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL7(rgbd4OdomScan2dInfo, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scanSub_, odomInfoSub_);
}
else
@@ -708,7 +708,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL7(rgbd4OdomScan3dInfo, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scan3dSub_, odomInfoSub_);
}
else
@@ -719,7 +719,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
else if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL6(rgbd4OdomInfo, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), odomInfoSub_);
}
else
@@ -738,7 +738,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL7(rgbd4DataScanDescInfo, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scanDescSub_, odomInfoSub_);
}
else
@@ -753,7 +753,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL7(rgbd4DataScan2dInfo, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scanSub_, odomInfoSub_);
}
else
@@ -768,7 +768,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL7(rgbd4DataScan3dInfo, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scan3dSub_, odomInfoSub_);
}
else
@@ -779,7 +779,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
else if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL6(rgbd4DataInfo, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), odomInfoSub_);
}
else
@@ -797,7 +797,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL6(rgbd4ScanDescInfo, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scanDescSub_, odomInfoSub_);
}
else
@@ -812,7 +812,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL6(rgbd4Scan2dInfo, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scanSub_, odomInfoSub_);
}
else
@@ -827,7 +827,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL6(rgbd4Scan3dInfo, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scan3dSub_, odomInfoSub_);
}
else
@@ -838,7 +838,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
else if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", 1);
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL5(rgbd4Info, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), odomInfoSub_);
}
else