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rgbd_odometry: fixed delay between input and output when 1 camera is used (queue_size should be 1) causing synchronization problems with depending nodes. rtabmap: handling odomInfo is subscribed (save odom statistics in database).

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This commit is contained in:
matlabbe
2017-12-21 10:29:26 -05:00
parent acc607a8e6
commit 8860afbc83
6 changed files with 67 additions and 14 deletions
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src/nodelets/data_odom_sync.cpp
+4 -4
View File
@@ -82,10 +82,10 @@ private:
info_sub_.subscribe(rgb_nh, "camera_info_in", 1);
odom_sub_.subscribe(nh, "odom_in", 1);
imagePub_ = rgb_it.advertise("image_out", 10);
imageDepthPub_ = depth_it.advertise("image_out", 10);
infoPub_ = rgb_nh.advertise<sensor_msgs::CameraInfo>("camera_info_out", 10);
odomPub_ = nh.advertise<nav_msgs::Odometry>("odom_out", 10);
imagePub_ = rgb_it.advertise("image_out", 1);
imageDepthPub_ = depth_it.advertise("image_out", 1);
infoPub_ = rgb_nh.advertise<sensor_msgs::CameraInfo>("camera_info_out", 1);
odomPub_ = nh.advertise<nav_msgs::Odometry>("odom_out", 1);
};
void callback(const sensor_msgs::ImageConstPtr& image,
src/nodelets/rgbd_odometry.cpp
+1 -1
View File
@@ -242,7 +242,7 @@ private:
}
else
{
rgbdSub_ = nh.subscribe("rgbd_image", queueSize_, &RGBDOdometry::callbackRGBD, this);
rgbdSub_ = nh.subscribe("rgbd_image", 1, &RGBDOdometry::callbackRGBD, this);
subscribedTopicsMsg =
uFormat("\n%s subscribed to:\n %s",
src/nodelets/undistort_depth.cpp
+1 -3
View File
@@ -61,9 +61,7 @@ private:
ros::NodeHandle & nh = getNodeHandle();
ros::NodeHandle & pnh = getPrivateNodeHandle();
int queueSize = 10;
std::string modelPath;
pnh.param("queue_size", queueSize, queueSize);
pnh.param("model", modelPath, modelPath);
if(modelPath.empty())
@@ -79,7 +77,7 @@ private:
else
{
image_transport::ImageTransport it(nh);
sub_ = it.subscribe("depth", queueSize, &UndistortDepth::callback, this);
sub_ = it.subscribe("depth", 1, &UndistortDepth::callback, this);
pub_ = it.advertise(uFormat("%s_undistorted", nh.resolveName("depth").c_str()), 1);
}
}