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merged master->ros2 (diagnostics, #1046)

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This commit is contained in:
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/nodelets/stereo_odometry.cpp
+5 -7
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@@ -90,6 +90,7 @@ void StereoOdometry::onOdomInit()
RCLCPP_INFO(this->get_logger(), "StereoOdometry: subscribe_rgbd = %s", subscribeRGBD?"true":"false");
RCLCPP_INFO(this->get_logger(), "StereoOdometry: keep_color = %s", keepColor_?"true":"false");
std::string subscribedTopic;
std::string subscribedTopicsMsg;
if(subscribeRGBD)
{
@@ -206,6 +207,7 @@ void StereoOdometry::onOdomInit()
{
rgbdxSub_ = create_subscription<rtabmap_msgs::msg::RGBDImages>("rgbd_images", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos()), std::bind(&StereoOdometry::callbackRGBDX, this, std::placeholders::_1));
subscribedTopic = rgbdxSub_->get_topic_name();
subscribedTopicsMsg =
uFormat("\n%s subscribed to:\n %s",
get_name(),
@@ -215,6 +217,7 @@ void StereoOdometry::onOdomInit()
{
rgbdSub_ = create_subscription<rtabmap_msgs::msg::RGBDImage>("rgbd_image", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos()), std::bind(&StereoOdometry::callbackRGBD, this, std::placeholders::_1));
subscribedTopic = rgbdSub_->get_topic_name();
subscribedTopicsMsg =
uFormat("\n%s subscribed to:\n %s",
get_name(),
@@ -242,6 +245,7 @@ void StereoOdometry::onOdomInit()
exactSync_->registerCallback(std::bind(&StereoOdometry::callback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3, std::placeholders::_4));
}
subscribedTopic = imageRectLeft_.getTopic();
subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync%s):\n %s \\\n %s \\\n %s \\\n %s",
get_name(),
approxSync?"approx":"exact",
@@ -252,7 +256,7 @@ void StereoOdometry::onOdomInit()
cameraInfoRight_.getSubscriber()->get_topic_name());
}
this->startWarningThread(subscribedTopicsMsg, approxSync);
initDiagnosticMsg(subscribedTopicsMsg, approxSync, subscribedTopic);
}
void StereoOdometry::updateParameters(ParametersMap & parameters)
@@ -587,7 +591,6 @@ void StereoOdometry::callback(
const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfoLeft,
const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfoRight)
{
callbackCalled();
if(!this->isPaused())
{
std::vector<cv_bridge::CvImageConstPtr> leftMsgs(1);
@@ -618,7 +621,6 @@ void StereoOdometry::callback(
void StereoOdometry::callbackRGBD(
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image)
{
callbackCalled();
if(!this->isPaused())
{
std::vector<cv_bridge::CvImageConstPtr> leftMsgs(1);
@@ -636,7 +638,6 @@ void StereoOdometry::callbackRGBD(
void StereoOdometry::callbackRGBDX(
const rtabmap_msgs::msg::RGBDImages::ConstSharedPtr images)
{
callbackCalled();
if(!this->isPaused())
{
if(images->rgbd_images.empty())
@@ -663,7 +664,6 @@ void StereoOdometry::callbackRGBD2(
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image,
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image2)
{
callbackCalled();
if(!this->isPaused())
{
std::vector<cv_bridge::CvImageConstPtr> leftMsgs(2);
@@ -686,7 +686,6 @@ void StereoOdometry::callbackRGBD3(
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image2,
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image3)
{
callbackCalled();
if(!this->isPaused())
{
std::vector<cv_bridge::CvImageConstPtr> leftMsgs(3);
@@ -713,7 +712,6 @@ void StereoOdometry::callbackRGBD4(
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image3,
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image4)
{
callbackCalled();
if(!this->isPaused())
{
std::vector<cv_bridge::CvImageConstPtr> leftMsgs(4);