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/CommonDataSubscriberRGBD5.cpp
+10 -10
View File
@@ -271,15 +271,15 @@ void CommonDataSubscriber::setupRGBD5Callbacks(
for(int i=0; i<5; ++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);
}
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;
@@ -290,7 +290,7 @@ void CommonDataSubscriber::setupRGBD5Callbacks(
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;
@@ -301,7 +301,7 @@ void CommonDataSubscriber::setupRGBD5Callbacks(
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;
@@ -312,7 +312,7 @@ void CommonDataSubscriber::setupRGBD5Callbacks(
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, rgbd5OdomInfo, approxSync_, syncQueueSize_, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), odomInfoSub_);
}
else
@@ -325,7 +325,7 @@ void CommonDataSubscriber::setupRGBD5Callbacks(
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;
@@ -336,7 +336,7 @@ void CommonDataSubscriber::setupRGBD5Callbacks(
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;
@@ -347,7 +347,7 @@ void CommonDataSubscriber::setupRGBD5Callbacks(
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;
@@ -358,7 +358,7 @@ void CommonDataSubscriber::setupRGBD5Callbacks(
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, rgbd5Info, approxSync_, syncQueueSize_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), odomInfoSub_);
}
else