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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_sync/src/impl/CommonDataSubscriberOdom.cpp
-4
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@@ -32,7 +32,6 @@ namespace rtabmap_sync {
void CommonDataSubscriber::odomCallback(
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg)
{
callbackCalled();
rtabmap_msgs::msg::UserData::SharedPtr userDataMsg; // Null
sensor_msgs::msg::PointCloud2::SharedPtr scan3dMsg; // Null
rtabmap_msgs::msg::OdomInfo::SharedPtr odomInfoMsg; // null
@@ -42,7 +41,6 @@ void CommonDataSubscriber::odomInfoCallback(
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg)
{
callbackCalled();
rtabmap_msgs::msg::UserData::SharedPtr userDataMsg; // Null
sensor_msgs::msg::LaserScan::SharedPtr scan2dMsg; // Null
commonOdomCallback(odomMsg, userDataMsg, odomInfoMsg);
@@ -52,7 +50,6 @@ void CommonDataSubscriber::odomDataCallback(
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg)
{
callbackCalled();
rtabmap_msgs::msg::OdomInfo::SharedPtr odomInfoMsg; // null
commonOdomCallback(odomMsg, userDataMsg, odomInfoMsg);
}
@@ -61,7 +58,6 @@ void CommonDataSubscriber::odomDataInfoCallback(
const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg,
const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg)
{
callbackCalled();
sensor_msgs::msg::PointCloud2::SharedPtr scan3dMsg; // Null
commonOdomCallback(odomMsg, userDataMsg, odomInfoMsg);
}
rtabmap_sync/src/impl/CommonDataSubscriberRGBD2.cpp
-1
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@@ -34,7 +34,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
namespace rtabmap_sync {
#define IMAGE_CONVERSION() \
callbackCalled(); \
std::vector<cv_bridge::CvImageConstPtr> imageMsgs(2); \
std::vector<cv_bridge::CvImageConstPtr> depthMsgs(2); \
rtabmap_conversions::toCvShare(image1Msg, imageMsgs[0], depthMsgs[0]); \
rtabmap_sync/src/impl/CommonDataSubscriberRGBD3.cpp
-1
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@@ -34,7 +34,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
namespace rtabmap_sync {
#define IMAGE_CONVERSION() \
callbackCalled(); \
std::vector<cv_bridge::CvImageConstPtr> imageMsgs(3); \
std::vector<cv_bridge::CvImageConstPtr> depthMsgs(3); \
rtabmap_conversions::toCvShare(image1Msg, imageMsgs[0], depthMsgs[0]); \
rtabmap_sync/src/impl/CommonDataSubscriberRGBD4.cpp
-1
View File
@@ -34,7 +34,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
namespace rtabmap_sync {
#define IMAGE_CONVERSION() \
callbackCalled(); \
std::vector<cv_bridge::CvImageConstPtr> imageMsgs(4); \
std::vector<cv_bridge::CvImageConstPtr> depthMsgs(4); \
rtabmap_conversions::toCvShare(image1Msg, imageMsgs[0], depthMsgs[0]); \
rtabmap_sync/src/impl/CommonDataSubscriberRGBD5.cpp
-1
View File
@@ -34,7 +34,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
namespace rtabmap_sync {
#define IMAGE_CONVERSION() \
callbackCalled(); \
std::vector<cv_bridge::CvImageConstPtr> imageMsgs(5); \
std::vector<cv_bridge::CvImageConstPtr> depthMsgs(5); \
rtabmap_conversions::toCvShare(image1Msg, imageMsgs[0], depthMsgs[0]); \
rtabmap_sync/src/impl/CommonDataSubscriberRGBD6.cpp
-1
View File
@@ -34,7 +34,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
namespace rtabmap_sync {
#define IMAGE_CONVERSION() \
callbackCalled(); \
std::vector<cv_bridge::CvImageConstPtr> imageMsgs(6); \
std::vector<cv_bridge::CvImageConstPtr> depthMsgs(6); \
rtabmap_conversions::toCvShare(image1Msg, imageMsgs[0], depthMsgs[0]); \
rtabmap_sync/src/impl/CommonDataSubscriberRGBDX.cpp
-1
View File
@@ -35,7 +35,6 @@ namespace rtabmap_sync {
#define IMAGE_CONVERSION() \
UASSERT(!imagesMsg->rgbd_images.empty()); \
callbackCalled(); \
std::vector<cv_bridge::CvImageConstPtr> imageMsgs(imagesMsg->rgbd_images.size()); \
std::vector<cv_bridge::CvImageConstPtr> depthMsgs(imagesMsg->rgbd_images.size()); \
std::vector<sensor_msgs::msg::CameraInfo> cameraInfoMsgs; \
rtabmap_sync/src/impl/CommonDataSubscriberScan.cpp
-24
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@@ -32,7 +32,6 @@ namespace rtabmap_sync {
void CommonDataSubscriber::scan2dCallback(
const sensor_msgs::msg::LaserScan::ConstSharedPtr scanMsg)
{
callbackCalled();
rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // Null
sensor_msgs::msg::PointCloud2 scan3dMsg; // null
@@ -42,7 +41,6 @@ void CommonDataSubscriber::scan2dCallback(
void CommonDataSubscriber::scan3dCallback(
const sensor_msgs::msg::PointCloud2::ConstSharedPtr scanMsg)
{
callbackCalled();
rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // Null
sensor_msgs::msg::LaserScan scan2dMsg; // Null
@@ -52,7 +50,6 @@ void CommonDataSubscriber::scan3dCallback(
void CommonDataSubscriber::scanDescCallback(
const rtabmap_msgs::msg::ScanDescriptor::ConstSharedPtr scanMsg)
{
callbackCalled();
rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // Null
rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg; // null
@@ -62,7 +59,6 @@ void CommonDataSubscriber::scan2dInfoCallback(
const sensor_msgs::msg::LaserScan::ConstSharedPtr scanMsg,
const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg)
{
callbackCalled();
rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // Null
sensor_msgs::msg::PointCloud2 scan3dMsg; // null
@@ -72,7 +68,6 @@ void CommonDataSubscriber::scan3dInfoCallback(
const sensor_msgs::msg::PointCloud2::ConstSharedPtr scanMsg,
const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg)
{
callbackCalled();
rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // Null
sensor_msgs::msg::LaserScan scan2dMsg; // Null
@@ -82,7 +77,6 @@ void CommonDataSubscriber::scanDescInfoCallback(
const rtabmap_msgs::msg::ScanDescriptor::ConstSharedPtr scanMsg,
const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg)
{
callbackCalled();
rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // Null
commonLaserScanCallback(odomMsg, userDataMsg, scanMsg->scan, scanMsg->scan_cloud, odomInfoMsg, scanMsg->global_descriptor);
@@ -92,7 +86,6 @@ void CommonDataSubscriber::odomScan2dCallback(
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
const sensor_msgs::msg::LaserScan::ConstSharedPtr scanMsg)
{
callbackCalled();
rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
sensor_msgs::msg::PointCloud2 scan3dMsg; // null
rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg; // null
@@ -102,7 +95,6 @@ void CommonDataSubscriber::odomScan3dCallback(
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
const sensor_msgs::msg::PointCloud2::ConstSharedPtr scanMsg)
{
callbackCalled();
rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
sensor_msgs::msg::LaserScan scan2dMsg; // Null
rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg; // null
@@ -112,7 +104,6 @@ void CommonDataSubscriber::odomScanDescCallback(
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
const rtabmap_msgs::msg::ScanDescriptor::ConstSharedPtr scanMsg)
{
callbackCalled();
rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg; // null
commonLaserScanCallback(odomMsg, userDataMsg, scanMsg->scan, scanMsg->scan_cloud, odomInfoMsg, scanMsg->global_descriptor);
@@ -122,7 +113,6 @@ void CommonDataSubscriber::odomScan2dInfoCallback(
const sensor_msgs::msg::LaserScan::ConstSharedPtr scanMsg,
const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg)
{
callbackCalled();
rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
sensor_msgs::msg::PointCloud2 scan3dMsg; // null
commonLaserScanCallback(odomMsg, userDataMsg, *scanMsg, scan3dMsg, odomInfoMsg);
@@ -132,7 +122,6 @@ void CommonDataSubscriber::odomScan3dInfoCallback(
const sensor_msgs::msg::PointCloud2::ConstSharedPtr scanMsg,
const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg)
{
callbackCalled();
rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
sensor_msgs::msg::LaserScan scan2dMsg; // Null
commonLaserScanCallback(odomMsg, userDataMsg, scan2dMsg, *scanMsg, odomInfoMsg);
@@ -142,7 +131,6 @@ void CommonDataSubscriber::odomScanDescInfoCallback(
const rtabmap_msgs::msg::ScanDescriptor::ConstSharedPtr scanMsg,
const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg)
{
callbackCalled();
rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
commonLaserScanCallback(odomMsg, userDataMsg, scanMsg->scan, scanMsg->scan_cloud, odomInfoMsg, scanMsg->global_descriptor);
}
@@ -152,7 +140,6 @@ void CommonDataSubscriber::dataScan2dCallback(
const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg,
const sensor_msgs::msg::LaserScan::ConstSharedPtr scanMsg)
{
callbackCalled();
nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // null
sensor_msgs::msg::PointCloud2 scan3dMsg; // null
rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg; // null
@@ -162,7 +149,6 @@ void CommonDataSubscriber::dataScan3dCallback(
const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg,
const sensor_msgs::msg::PointCloud2::ConstSharedPtr scanMsg)
{
callbackCalled();
nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // null
sensor_msgs::msg::LaserScan scan2dMsg; // Null
rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg; // null
@@ -172,7 +158,6 @@ void CommonDataSubscriber::dataScanDescCallback(
const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg,
const rtabmap_msgs::msg::ScanDescriptor::ConstSharedPtr scanMsg)
{
callbackCalled();
nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // null
rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg; // null
commonLaserScanCallback(odomMsg, userDataMsg, scanMsg->scan, scanMsg->scan_cloud, odomInfoMsg, scanMsg->global_descriptor);
@@ -182,7 +167,6 @@ void CommonDataSubscriber::dataScan2dInfoCallback(
const sensor_msgs::msg::LaserScan::ConstSharedPtr scanMsg,
const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg)
{
callbackCalled();
nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // null
sensor_msgs::msg::PointCloud2 scan3dMsg; // null
commonLaserScanCallback(odomMsg, userDataMsg, *scanMsg, scan3dMsg, odomInfoMsg);
@@ -192,7 +176,6 @@ void CommonDataSubscriber::dataScan3dInfoCallback(
const sensor_msgs::msg::PointCloud2::ConstSharedPtr scanMsg,
const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg)
{
callbackCalled();
nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // null
sensor_msgs::msg::LaserScan scan2dMsg; // Null
commonLaserScanCallback(odomMsg, userDataMsg, scan2dMsg, *scanMsg, odomInfoMsg);
@@ -202,7 +185,6 @@ void CommonDataSubscriber::dataScanDescInfoCallback(
const rtabmap_msgs::msg::ScanDescriptor::ConstSharedPtr scanMsg,
const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg)
{
callbackCalled();
nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // null
commonLaserScanCallback(odomMsg, userDataMsg, scanMsg->scan, scanMsg->scan_cloud, odomInfoMsg, scanMsg->global_descriptor);
}
@@ -212,7 +194,6 @@ void CommonDataSubscriber::odomDataScan2dCallback(
const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg,
const sensor_msgs::msg::LaserScan::ConstSharedPtr scanMsg)
{
callbackCalled();
sensor_msgs::msg::PointCloud2 scan3dMsg; // null
rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg; // null
commonLaserScanCallback(odomMsg, userDataMsg, *scanMsg, scan3dMsg, odomInfoMsg);
@@ -222,7 +203,6 @@ void CommonDataSubscriber::odomDataScan3dCallback(
const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg,
const sensor_msgs::msg::PointCloud2::ConstSharedPtr scanMsg)
{
callbackCalled();
sensor_msgs::msg::LaserScan scan2dMsg; // Null
rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg; // null
commonLaserScanCallback(odomMsg, userDataMsg, scan2dMsg, *scanMsg, odomInfoMsg);
@@ -232,7 +212,6 @@ void CommonDataSubscriber::odomDataScanDescCallback(
const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg,
const rtabmap_msgs::msg::ScanDescriptor::ConstSharedPtr scanMsg)
{
callbackCalled();
rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg; // null
commonLaserScanCallback(odomMsg, userDataMsg, scanMsg->scan, scanMsg->scan_cloud, odomInfoMsg, scanMsg->global_descriptor);
}
@@ -242,7 +221,6 @@ void CommonDataSubscriber::odomDataScan2dInfoCallback(
const sensor_msgs::msg::LaserScan::ConstSharedPtr scanMsg,
const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg)
{
callbackCalled();
sensor_msgs::msg::PointCloud2 scan3dMsg; // null
commonLaserScanCallback(odomMsg, userDataMsg, *scanMsg, scan3dMsg, odomInfoMsg);
}
@@ -252,7 +230,6 @@ void CommonDataSubscriber::odomDataScan3dInfoCallback(
const sensor_msgs::msg::PointCloud2::ConstSharedPtr scanMsg,
const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg)
{
callbackCalled();
sensor_msgs::msg::LaserScan scan2dMsg; // Null
commonLaserScanCallback(odomMsg, userDataMsg, scan2dMsg, *scanMsg, odomInfoMsg);
}
@@ -262,7 +239,6 @@ void CommonDataSubscriber::odomDataScanDescInfoCallback(
const rtabmap_msgs::msg::ScanDescriptor::ConstSharedPtr scanMsg,
const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg)
{
callbackCalled();
commonLaserScanCallback(odomMsg, userDataMsg, scanMsg->scan, scanMsg->scan_cloud, odomInfoMsg, scanMsg->global_descriptor);
}
#endif
rtabmap_sync/src/impl/CommonDataSubscriberStereo.cpp
+7 -10
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@@ -32,9 +32,9 @@ namespace rtabmap_sync {
// Stereo
void CommonDataSubscriber::stereoCallback(
const sensor_msgs::msg::Image::ConstSharedPtr leftImageMsg,
const sensor_msgs::msg::Image::ConstSharedPtr rightImageMsg,
const sensor_msgs::msg::CameraInfo::ConstSharedPtr leftCamInfoMsg,
const sensor_msgs::msg::CameraInfo::ConstSharedPtr rightCamInfoMsg)
const sensor_msgs::msg::Image::ConstSharedPtr rightImageMsg,
const sensor_msgs::msg::CameraInfo::ConstSharedPtr leftCamInfoMsg,
const sensor_msgs::msg::CameraInfo::ConstSharedPtr rightCamInfoMsg)
{
nav_msgs::msg::Odometry::SharedPtr odomMsg; // Null
rtabmap_msgs::msg::UserData::SharedPtr userDataMsg; // Null
@@ -45,12 +45,11 @@ void CommonDataSubscriber::stereoCallback(
}
void CommonDataSubscriber::stereoInfoCallback(
const sensor_msgs::msg::Image::ConstSharedPtr leftImageMsg,
const sensor_msgs::msg::Image::ConstSharedPtr rightImageMsg,
const sensor_msgs::msg::CameraInfo::ConstSharedPtr leftCamInfoMsg,
const sensor_msgs::msg::CameraInfo::ConstSharedPtr rightCamInfoMsg,
const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg)
const sensor_msgs::msg::Image::ConstSharedPtr rightImageMsg,
const sensor_msgs::msg::CameraInfo::ConstSharedPtr leftCamInfoMsg,
const sensor_msgs::msg::CameraInfo::ConstSharedPtr rightCamInfoMsg,
const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg)
{
callbackCalled();
nav_msgs::msg::Odometry::SharedPtr odomMsg; // Null
rtabmap_msgs::msg::UserData::SharedPtr userDataMsg; // Null
sensor_msgs::msg::LaserScan scan2dMsg; // Null
@@ -66,7 +65,6 @@ void CommonDataSubscriber::stereoOdomCallback(
const sensor_msgs::msg::CameraInfo::ConstSharedPtr leftCamInfoMsg,
const sensor_msgs::msg::CameraInfo::ConstSharedPtr rightCamInfoMsg)
{
callbackCalled();
rtabmap_msgs::msg::UserData::SharedPtr userDataMsg; // Null
sensor_msgs::msg::LaserScan scanMsg; // null
sensor_msgs::msg::PointCloud2 scan3dMsg; // Null
@@ -81,7 +79,6 @@ void CommonDataSubscriber::stereoOdomInfoCallback(
const sensor_msgs::msg::CameraInfo::ConstSharedPtr rightCamInfoMsg,
const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg)
{
callbackCalled();
rtabmap_msgs::msg::UserData::SharedPtr userDataMsg; // Null
sensor_msgs::msg::LaserScan scan2dMsg; // Null
sensor_msgs::msg::PointCloud2 scan3dMsg; // Null