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Fixed compilation errors on rolling (backward compatible for Humble)

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matlabbe
2025-07-12 15:18:39 -07:00
parent 0918c60dc1
commit 8d5af87d17
42 changed files with 419 additions and 302 deletions
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rtabmap_sync/src/impl/CommonDataSubscriberRGBD4.cpp
+21 -21
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@@ -419,17 +419,17 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
for(int i=0; i<4; ++i)
{
rgbdSubs_[i] = new message_filters::Subscriber<rtabmap_msgs::msg::RGBDImage>;
rgbdSubs_[i]->subscribe(&node, uFormat("rgbd_image%d", i), rclcpp::QoS(topicQueueSize_).reliability(qosImage_).get_rmw_qos_profile(), options);
rgbdSubs_[i]->subscribe(&node, uFormat("rgbd_image%d", i), 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;
@@ -440,7 +440,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
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;
@@ -451,7 +451,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
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;
@@ -462,7 +462,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
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_DECL7(CommonDataSubscriber, rgbd4OdomDataInfo, approxSync_, syncQueueSize_, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), odomInfoSub_);
}
else
@@ -474,11 +474,11 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
#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;
@@ -489,7 +489,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
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;
@@ -500,7 +500,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
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;
@@ -511,7 +511,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
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_DECL6(CommonDataSubscriber, rgbd4OdomInfo, approxSync_, syncQueueSize_, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), odomInfoSub_);
}
else
@@ -522,11 +522,11 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
#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;
@@ -537,7 +537,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
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;
@@ -548,7 +548,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
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;
@@ -559,7 +559,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
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_DECL6(CommonDataSubscriber, rgbd4DataInfo, approxSync_, syncQueueSize_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), odomInfoSub_);
}
else
@@ -573,7 +573,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
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;
@@ -584,7 +584,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
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;
@@ -595,7 +595,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
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;
@@ -606,7 +606,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
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_DECL5(CommonDataSubscriber, rgbd4Info, approxSync_, syncQueueSize_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), odomInfoSub_);
}
else