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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/nodelets/rgbd_sync.cpp
+9 -23
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@@ -43,11 +43,10 @@ namespace rtabmap_sync
RGBDSync::RGBDSync(const rclcpp::NodeOptions & options) :
Node("rgbd_sync", options),
SyncDiagnostic(this),
depthScale_(1.0),
decimation_(1),
compressedRate_(0),
warningThread_(0),
callbackCalled_(false),
approxSyncDepth_(0),
exactSyncDepth_(0)
{
@@ -100,7 +99,7 @@ RGBDSync::RGBDSync(const rclcpp::NodeOptions & options) :
imageDepthSub_.subscribe(this, "depth/image", hints.getTransport(), rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
cameraInfoSub_.subscribe(this, "rgb/camera_info", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qosCamInfo).get_rmw_qos_profile());
subscribedTopicsMsg_ = uFormat("\n%s subscribed to (%s sync%s):\n %s,\n %s,\n %s",
std::string subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync%s):\n %s,\n %s,\n %s",
get_name(),
approxSync?"approx":"exact",
approxSync&&approxSyncMaxInterval!=0.0?uFormat(", max interval=%fs", approxSyncMaxInterval).c_str():"",
@@ -108,35 +107,22 @@ RGBDSync::RGBDSync(const rclcpp::NodeOptions & options) :
imageDepthSub_.getSubscriber().getTopic().c_str(),
cameraInfoSub_.getSubscriber()->get_topic_name());
RCLCPP_INFO(this->get_logger(), "%s", subscribedTopicsMsg_.c_str());
RCLCPP_INFO(this->get_logger(), "%s", subscribedTopicsMsg.c_str());
warningThread_ = new std::thread([&](){
rclcpp::Rate r(1/5.0);
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 "
initDiagnostic(imageSub_.getSubscriber().getTopic(),
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(),
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());
}
}
});
subscribedTopicsMsg.c_str()));
}
RGBDSync::~RGBDSync()
{
delete approxSyncDepth_;
delete exactSyncDepth_;
callbackCalled_ = true;
warningThread_->join();
delete warningThread_;
}
void RGBDSync::callback(
@@ -144,7 +130,7 @@ void RGBDSync::callback(
const sensor_msgs::msg::Image::ConstSharedPtr depth,
const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfo)
{
callbackCalled_ = true;
tick(image->header.stamp);
if(rgbdImagePub_->get_subscription_count() || rgbdImageCompressedPub_->get_subscription_count())
{
double rgbStamp = rtabmap_conversions::timestampFromROS(image->header.stamp);