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Updated lidar3d examples (and new 2x lidars example)

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matlabbe
2025-03-29 21:29:46 -07:00
parent f8102301da
commit a2f2971094
5 changed files with 379 additions and 37 deletions
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rtabmap_util/src/nodelets/point_cloud_aggregator.cpp
+11 -10
View File
@@ -111,10 +111,10 @@ PointCloudAggregator::PointCloudAggregator(const rclcpp::NodeOptions & options)
get_name(),
approx?"approx":"exact",
approx&&approxSyncMaxInterval!=0.0?uFormat(", max interval=%fs", approxSyncMaxInterval).c_str():"",
cloudSub_1_.getTopic().c_str(),
cloudSub_2_.getTopic().c_str(),
cloudSub_3_.getTopic().c_str(),
cloudSub_4_.getTopic().c_str());
cloudSub_1_.getSubscriber()->get_topic_name(),
cloudSub_2_.getSubscriber()->get_topic_name(),
cloudSub_3_.getSubscriber()->get_topic_name(),
cloudSub_4_.getSubscriber()->get_topic_name());
}
else if(count == 3)
{
@@ -135,9 +135,9 @@ PointCloudAggregator::PointCloudAggregator(const rclcpp::NodeOptions & options)
this->get_name(),
approx?"approx":"exact",
approx&&approxSyncMaxInterval!=0.0?uFormat(", max interval=%fs", approxSyncMaxInterval).c_str():"",
cloudSub_1_.getTopic().c_str(),
cloudSub_2_.getTopic().c_str(),
cloudSub_3_.getTopic().c_str());
cloudSub_1_.getSubscriber()->get_topic_name(),
cloudSub_2_.getSubscriber()->get_topic_name(),
cloudSub_3_.getSubscriber()->get_topic_name());
}
else
{
@@ -157,8 +157,8 @@ PointCloudAggregator::PointCloudAggregator(const rclcpp::NodeOptions & options)
this->get_name(),
approx?"approx":"exact",
approx&&approxSyncMaxInterval!=0.0?uFormat(", max interval=%fs", approxSyncMaxInterval).c_str():"",
cloudSub_1_.getTopic().c_str(),
cloudSub_2_.getTopic().c_str());
cloudSub_1_.getSubscriber()->get_topic_name(),
cloudSub_2_.getSubscriber()->get_topic_name());
}
@@ -175,10 +175,11 @@ PointCloudAggregator::PointCloudAggregator(const rclcpp::NodeOptions & options)
this->get_name(),
approx?"":"Parameter \"approx_sync\" is false, which means that input "
"topics should have all the exact timestamp for the callback to be called.",
subscribedTopicsMsg.c_str());
subscribedTopicsMsg.c_str());
}
}
});
RCLCPP_INFO(this->get_logger(), "%s", subscribedTopicsMsg.c_str());
}
PointCloudAggregator::~PointCloudAggregator()
rtabmap_util/src/nodelets/point_cloud_assembler.cpp
+5 -5
View File
@@ -154,9 +154,9 @@ PointCloudAssembler::PointCloudAssembler(const rclcpp::NodeOptions & options) :
exactInfoSync_->registerCallback(std::bind(&rtabmap_util::PointCloudAssembler::callbackCloudOdomInfo, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
subscribedTopicsMsg_ = uFormat("\n%s subscribed to (exact sync):\n %s,\n %s",
get_name(),
syncCloudSub_.getTopic().c_str(),
syncOdomSub_.getTopic().c_str(),
syncOdomInfoSub_.getTopic().c_str());
syncCloudSub_.getSubscriber()->get_topic_name(),
syncOdomSub_.getSubscriber()->get_topic_name(),
syncOdomInfoSub_.getSubscriber()->get_topic_name());
}
else
{
@@ -166,8 +166,8 @@ PointCloudAssembler::PointCloudAssembler(const rclcpp::NodeOptions & options) :
exactSync_->registerCallback(std::bind(&rtabmap_util::PointCloudAssembler::callbackCloudOdom, this, std::placeholders::_1, std::placeholders::_2));
subscribedTopicsMsg_ = uFormat("\n%s subscribed to (exact sync):\n %s,\n %s",
get_name(),
syncCloudSub_.getTopic().c_str(),
syncOdomSub_.getTopic().c_str());
syncCloudSub_.getSubscriber()->get_topic_name(),
syncOdomSub_.getSubscriber()->get_topic_name());
}
warningThread_ = new std::thread([&](){