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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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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
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@@ -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,