i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-08 02:37:45 +08:00
Code Issues Packages Projects Releases Wiki Activity

Fixed compilation errors on rolling (backward compatible for Humble)

Browse Source
This commit is contained in:
matlabbe
2025-07-12 15:18:39 -07:00
parent 0918c60dc1
commit 8d5af87d17
42 changed files with 419 additions and 302 deletions
Download Patch File Download Diff File Expand all files Collapse all files
rtabmap_sync/src/impl/CommonDataSubscriberRGBD.cpp
+21 -21
View File
@@ -576,17 +576,17 @@ void CommonDataSubscriber::setupRGBDCallbacks(
{
rgbdSubs_.resize(1);
rgbdSubs_[0] = new message_filters::Subscriber<rtabmap_msgs::msg::RGBDImage>;
rgbdSubs_[0]->subscribe(&node, "rgbd_image", rclcpp::QoS(topicQueueSize_).reliability(qosImage_).get_rmw_qos_profile(), options);
rgbdSubs_[0]->subscribe(&node, "rgbd_image", RCLCPP_QOS(topicQueueSize_, qosImage_), options);
#ifdef RTABMAP_SYNC_USER_DATA
if(subscribeOdom && subscribeUserData)
{
odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
userDataSub_.subscribe(&node, "user_data", rclcpp::QoS(topicQueueSize_).reliability(qosUserData_).get_rmw_qos_profile(), options);
odomSub_.subscribe(&node, "odom", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
userDataSub_.subscribe(&node, "user_data", RCLCPP_QOS(topicQueueSize_, qosUserData_), options);
if(subscribeScanDesc)
{
subscribedToScanDescriptor_ = true;
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
scanDescSub_.subscribe(&node, "scan_descriptor", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -597,7 +597,7 @@ void CommonDataSubscriber::setupRGBDCallbacks(
else if(subscribeScan2d)
{
subscribedToScan2d_ = true;
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
scanSub_.subscribe(&node, "scan", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -608,7 +608,7 @@ void CommonDataSubscriber::setupRGBDCallbacks(
else if(subscribeScan3d)
{
subscribedToScan3d_ = true;
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
scan3dSub_.subscribe(&node, "scan_cloud", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -619,7 +619,7 @@ void CommonDataSubscriber::setupRGBDCallbacks(
else if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
SYNC_DECL4(CommonDataSubscriber, rgbdOdomDataInfo, approxSync_, syncQueueSize_, odomSub_, userDataSub_, (*rgbdSubs_[0]), odomInfoSub_);
}
else
@@ -631,11 +631,11 @@ void CommonDataSubscriber::setupRGBDCallbacks(
#endif
if(subscribeOdom)
{
odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
odomSub_.subscribe(&node, "odom", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
if(subscribeScanDesc)
{
subscribedToScanDescriptor_ = true;
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
scanDescSub_.subscribe(&node, "scan_descriptor", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -646,7 +646,7 @@ void CommonDataSubscriber::setupRGBDCallbacks(
else if(subscribeScan2d)
{
subscribedToScan2d_ = true;
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
scanSub_.subscribe(&node, "scan", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -657,7 +657,7 @@ void CommonDataSubscriber::setupRGBDCallbacks(
else if(subscribeScan3d)
{
subscribedToScan3d_ = true;
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
scan3dSub_.subscribe(&node, "scan_cloud", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -668,7 +668,7 @@ void CommonDataSubscriber::setupRGBDCallbacks(
else if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
SYNC_DECL3(CommonDataSubscriber, rgbdOdomInfo, approxSync_, syncQueueSize_, odomSub_, (*rgbdSubs_[0]), odomInfoSub_);
}
else
@@ -679,11 +679,11 @@ void CommonDataSubscriber::setupRGBDCallbacks(
#ifdef RTABMAP_SYNC_USER_DATA
else if(subscribeUserData)
{
userDataSub_.subscribe(&node, "user_data", rclcpp::QoS(topicQueueSize_).reliability(qosUserData_).get_rmw_qos_profile(), options);
userDataSub_.subscribe(&node, "user_data", RCLCPP_QOS(topicQueueSize_, qosUserData_), options);
if(subscribeScanDesc)
{
subscribedToScanDescriptor_ = true;
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
scanDescSub_.subscribe(&node, "scan_descriptor", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -694,7 +694,7 @@ void CommonDataSubscriber::setupRGBDCallbacks(
else if(subscribeScan2d)
{
subscribedToScan2d_ = true;
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
scanSub_.subscribe(&node, "scan", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -705,7 +705,7 @@ void CommonDataSubscriber::setupRGBDCallbacks(
else if(subscribeScan3d)
{
subscribedToScan3d_ = true;
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
scan3dSub_.subscribe(&node, "scan_cloud", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -716,7 +716,7 @@ void CommonDataSubscriber::setupRGBDCallbacks(
else if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
SYNC_DECL3(CommonDataSubscriber, rgbdDataInfo, approxSync_, syncQueueSize_, userDataSub_, (*rgbdSubs_[0]), odomInfoSub_);
}
else
@@ -730,7 +730,7 @@ void CommonDataSubscriber::setupRGBDCallbacks(
if(subscribeScanDesc)
{
subscribedToScanDescriptor_ = true;
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
scanDescSub_.subscribe(&node, "scan_descriptor", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -741,7 +741,7 @@ void CommonDataSubscriber::setupRGBDCallbacks(
else if(subscribeScan2d)
{
subscribedToScan2d_ = true;
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
scanSub_.subscribe(&node, "scan", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -752,7 +752,7 @@ void CommonDataSubscriber::setupRGBDCallbacks(
else if(subscribeScan3d)
{
subscribedToScan3d_ = true;
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
scan3dSub_.subscribe(&node, "scan_cloud", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -763,7 +763,7 @@ void CommonDataSubscriber::setupRGBDCallbacks(
else if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
SYNC_DECL2(CommonDataSubscriber, rgbdInfo, approxSync_, syncQueueSize_, (*rgbdSubs_[0]), odomInfoSub_);
}
else