i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-08 02:37:45 +08:00
Code Issues Packages Projects Releases Wiki Activity

merged master->ros2 (diagnostics, #1046)

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files
rtabmap_sync/src/nodelets/stereo_sync.cpp
+12 -27
View File
@@ -42,9 +42,8 @@ namespace rtabmap_sync
StereoSync::StereoSync(const rclcpp::NodeOptions & options) :
Node("stereo_sync", options),
SyncDiagnostic(this),
compressedRate_(0),
warningThread_(0),
callbackCalled_(false),
approxSync_(0),
exactSync_(0)
{
@@ -88,7 +87,7 @@ StereoSync::StereoSync(const rclcpp::NodeOptions & options) :
cameraInfoLeftSub_.subscribe(this, "left/camera_info"), rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qosCamInfo).get_rmw_qos_profile();
cameraInfoRightSub_.subscribe(this, "right/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,\n %s",
std::string subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync%s):\n %s,\n %s,\n %s,\n %s",
get_name(),
approxSync?"approx":"exact",
approxSync&&approxSyncMaxInterval!=0.0?uFormat(", max interval=%fs", approxSyncMaxInterval).c_str():"",
@@ -97,36 +96,22 @@ StereoSync::StereoSync(const rclcpp::NodeOptions & options) :
cameraInfoLeftSub_.getSubscriber()->get_topic_name(),
cameraInfoRightSub_.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 "
"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());
}
}
});
initDiagnostic(imageLeftSub_.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",
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()));
}
StereoSync::~StereoSync()
{
delete approxSync_;
delete exactSync_;
callbackCalled_=true;
warningThread_->join();
delete warningThread_;
}
void StereoSync::callback(
@@ -135,7 +120,7 @@ void StereoSync::callback(
const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfoLeft,
const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfoRight)
{
callbackCalled_ = true;
tick(imageLeft->header.stamp);
if(rgbdImagePub_->get_subscription_count() || rgbdImageCompressedPub_->get_subscription_count())
{
double leftStamp = rtabmap_conversions::timestampFromROS(imageLeft->header.stamp);