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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/rgbd_odometry.cpp
+1 -1
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@@ -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",