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merged master->ros2 (diagnostics, #1046)

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matlabbe
2023-10-14 15:22:56 -07:00
parent 0473206ade 61bd84bcd6
commit a3b6f0a88f
34 changed files with 393 additions and 288 deletions
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rtabmap_odom/src/OdometryROS.cpp
+45 -28
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@@ -62,9 +62,8 @@ OdometryROS::OdometryROS(const rclcpp::NodeOptions & options) :
OdometryROS::OdometryROS(const std::string & name, const rclcpp::NodeOptions & options) :
Node(name, options),
rtabmap_sync::SyncDiagnostic(this, 0.5),
odometry_(0),
warningThread_(0),
callbackCalled_(false),
frameId_("base_link"),
odomFrameId_("odom"),
groundTruthFrameId_(""),
@@ -190,13 +189,6 @@ OdometryROS::OdometryROS(const std::string & name, const rclcpp::NodeOptions & o
OdometryROS::~OdometryROS()
{
if(warningThread_)
{
callbackCalled();
warningThread_->join();
delete warningThread_;
}
delete odometry_;
}
@@ -369,28 +361,21 @@ void OdometryROS::init(bool stereoParams, bool visParams, bool icpParams)
onOdomInit();
}
void OdometryROS::startWarningThread(const std::string & subscribedTopicsMsg, bool approxSync)
void OdometryROS::initDiagnosticMsg(const std::string & subscribedTopicsMsg, bool approxSync, const std::string & subscribedTopic)
{
RCLCPP_INFO(this->get_logger(), "%s", subscribedTopicsMsg.c_str());
subscribedTopicsMsg_ = subscribedTopicsMsg;
warningThread_ = new std::thread([&](){
rclcpp::Rate r(1.0/5.0);
while(!callbackCalled_)
{
r.sleep();
if(!callbackCalled_)
{
RCLCPP_WARN(this->get_logger(), "%s: Did not receive data since 5 seconds! Make sure the input topics are "
"published (\"$ ros2 topic hz my_topic\") and the timestamps in their "
"header are set. %s%s",
this->get_name(),
approxSync?"":"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());
}
}
});
std::vector<diagnostic_updater::DiagnosticTask*> tasks;
tasks.push_back(&statusDiagnostic_);
initDiagnostic(subscribedTopic,
uFormat("%s: Did not receive data since 5 seconds! Make sure the input topics are "
"published (\"$ rostopic hz my_topic\") and the timestamps in their "
"header are set. %s%s",
this->get_name(),
approxSync?"":"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()),
tasks);
}
rtabmap::Transform OdometryROS::velocityGuess() const
@@ -945,6 +930,17 @@ void OdometryROS::processData(SensorData & data, const std_msgs::msg::Header & h
{
RCLCPP_INFO(this->get_logger(), "Odom: ratio=%f, std dev=%fm|%frad, update time=%fs", info.reg.icpInliersRatio, pose.isNull()?0.0f:std::sqrt(info.reg.covariance.at<double>(0,0)), pose.isNull()?0.0f:std::sqrt(info.reg.covariance.at<double>(5,5)), (now()-timeStart).seconds());
}
statusDiagnostic_.setStatus(pose.isNull());
if(!pose.isNull())
{
double curentRate = 1.0/(this->now()-timeStart).seconds();
tick(header.stamp,
maxUpdateRate_>0 && maxUpdateRate_ < curentRate ? maxUpdateRate_:
expectedUpdateRate_>0 && expectedUpdateRate_ < curentRate ? expectedUpdateRate_:
previousStamp_ == 0.0 || rtabmap_conversions::timestampFromROS(header.stamp) - previousStamp_ > 1.0/curentRate?0:curentRate);
}
previousStamp_ = rtabmap_conversions::timestampFromROS(header.stamp);
}
}
@@ -1046,6 +1042,27 @@ void OdometryROS::setLogError(
ULogger::setLevel(ULogger::kError);
}
OdometryROS::OdomStatusTask::OdomStatusTask() :
diagnostic_updater::DiagnosticTask("Odom status"),
lost_(false)
{}
void OdometryROS::OdomStatusTask::setStatus(bool isLost)
{
lost_ = isLost;
}
void OdometryROS::OdomStatusTask::run(diagnostic_updater::DiagnosticStatusWrapper &stat)
{
if(lost_)
{
stat.summary(diagnostic_msgs::msg::DiagnosticStatus::ERROR, "Lost!");
}
else
{
stat.summary(diagnostic_msgs::msg::DiagnosticStatus::OK, "Tracking.");
}
}
}