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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_slam/src/CoreWrapper.cpp
+6
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@@ -2219,6 +2219,12 @@ void CoreWrapper::process(
rtabmapROSStats_.insert(std::make_pair(std::string("RtabmapROS/TimeUpdatingMaps/ms"), timeUpdateMaps*1000.0f));
rtabmapROSStats_.insert(std::make_pair(std::string("RtabmapROS/TimePublishing/ms"), timePublishMaps*1000.0f));
rtabmapROSStats_.insert(std::make_pair(std::string("RtabmapROS/TimeTotal/ms"), (timeMsgConversion+timeRtabmap+timeUpdateMaps+timePublishMaps)*1000.0f));
// If not intermediate node
if(data.id() >= 0)
{
tick(stamp, rate_>0?rate_:1000.0/(timeMsgConversion+timeRtabmap+timeUpdateMaps+timePublishMaps));
}
}
else if(!rtabmap_.isIDsGenerated())
{