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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/rgbdx_sync.cpp
+18 -35
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@@ -34,15 +34,14 @@ namespace rtabmap_sync
RGBDXSync::RGBDXSync(const rclcpp::NodeOptions & options) :
Node("rgbd_sync", options),
SyncDiagnostic(this),
SYNC_INIT(rgbd2),
SYNC_INIT(rgbd3),
SYNC_INIT(rgbd4),
SYNC_INIT(rgbd5),
SYNC_INIT(rgbd6),
SYNC_INIT(rgbd7),
SYNC_INIT(rgbd8),
warningThread_(0),
callbackCalled_(false)
SYNC_INIT(rgbd8)
{
int queueSize = 10;
bool approxSync = true;
@@ -135,24 +134,15 @@ RGBDXSync::RGBDXSync(const rclcpp::NodeOptions & options) :
RCLCPP_INFO(this->get_logger(), "%s%s", subscribedTopicsMsg_.c_str(),
approxSync&&approxSyncMaxInterval!=0.0?uFormat(" (approx sync max interval=%fs)", approxSyncMaxInterval).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 "
"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());
}
}
});
// Setup diagnostic
initDiagnostic("",
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",
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()));
}
RGBDXSync::~RGBDXSync()
@@ -164,20 +154,13 @@ RGBDXSync::~RGBDXSync()
SYNC_DEL(rgbd6);
SYNC_DEL(rgbd7);
SYNC_DEL(rgbd8);
if(warningThread_)
{
callbackCalled_=true;
warningThread_->join();
delete warningThread_;
}
}
void RGBDXSync::rgbd2Callback(
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image0,
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image1)
{
callbackCalled_ = true;
tick(image0->header.stamp);
rtabmap_msgs::msg::RGBDImages output;
output.header = image0->header;
output.rgbd_images.resize(2);
@@ -191,7 +174,7 @@ void RGBDXSync::rgbd3Callback(
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image1,
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image2)
{
callbackCalled_ = true;
tick(image0->header.stamp);
rtabmap_msgs::msg::RGBDImages output;
output.header = image0->header;
output.rgbd_images.resize(3);
@@ -207,7 +190,7 @@ void RGBDXSync::rgbd4Callback(
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image2,
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image3)
{
callbackCalled_ = true;
tick(image0->header.stamp);
rtabmap_msgs::msg::RGBDImages output;
output.header = image0->header;
output.rgbd_images.resize(4);
@@ -225,7 +208,7 @@ void RGBDXSync::rgbd5Callback(
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image3,
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image4)
{
callbackCalled_ = true;
tick(image0->header.stamp);
rtabmap_msgs::msg::RGBDImages output;
output.header = image0->header;
output.rgbd_images.resize(5);
@@ -245,7 +228,7 @@ void RGBDXSync::rgbd6Callback(
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image4,
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image5)
{
callbackCalled_ = true;
tick(image0->header.stamp);
rtabmap_msgs::msg::RGBDImages output;
output.header = image0->header;
output.rgbd_images.resize(6);
@@ -267,7 +250,7 @@ void RGBDXSync::rgbd7Callback(
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image5,
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image6)
{
callbackCalled_ = true;
tick(image0->header.stamp);
rtabmap_msgs::msg::RGBDImages output;
output.header = image0->header;
output.rgbd_images.resize(7);
@@ -291,7 +274,7 @@ void RGBDXSync::rgbd8Callback(
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image6,
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image7)
{
callbackCalled_ = true;
tick(image0->header.stamp);
rtabmap_msgs::msg::RGBDImages output;
output.header = image0->header;
output.rgbd_images.resize(8);