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Multithreaded rtabmap node (#1214)

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* Multi-threaded rtabmap node

* Moved data sync logic inside CoreWrapper to process odometry topics outside processing thread

* updated commend

* re-enabled jazzy

* disabled jazzy for this mr

* Added async callbackgroup for imu and landmark topics

* Making all shared variables thread-safe
This commit is contained in:
matlabbe
2024-10-15 21:00:35 -07:00
committed by GitHub
parent 1950b95bf5
commit ad97f56d0b
19 changed files with 785 additions and 537 deletions
Download Patch File Download Diff File Expand all files Collapse all files
rtabmap_sync/src/CommonDataSubscriber.cpp
+18
View File
@@ -363,6 +363,8 @@ CommonDataSubscriber::CommonDataSubscriber(rclcpp::Node & node, bool gui) :
{
name_ = node.get_name();
syncCallbackGroup_ = node.create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
// ROS related parameters (private)
// ros2: should be declared in the constructor to be used by inherited classes in their constructor
subscribedToDepth_ = node.declare_parameter("subscribe_depth", subscribedToDepth_);
@@ -539,11 +541,15 @@ void CommonDataSubscriber::setupCallbacks(
RCLCPP_INFO(node.get_logger(), "%s: qos_user_data = %d", name_.c_str(), qosUserData_);
RCLCPP_INFO(node.get_logger(), "%s: approx_sync = %s", name_.c_str(), approxSync_?"true":"false");
rclcpp::SubscriptionOptions callbackOptions;
callbackOptions.callback_group = syncCallbackGroup_;
subscribedToOdom_ = odomFrameId_.empty() && subscribedToOdom_;
if(subscribedToDepth_)
{
setupDepthCallbacks(
node,
callbackOptions,
subscribedToOdom_,
subscribedToUserData_,
subscribedToScan2d_,
@@ -555,6 +561,7 @@ void CommonDataSubscriber::setupCallbacks(
{
setupStereoCallbacks(
node,
callbackOptions,
subscribedToOdom_,
subscribedToOdomInfo_);
}
@@ -562,6 +569,7 @@ void CommonDataSubscriber::setupCallbacks(
{
setupRGBCallbacks(
node,
callbackOptions,
subscribedToOdom_,
subscribedToUserData_,
subscribedToScan2d_,
@@ -583,6 +591,7 @@ void CommonDataSubscriber::setupCallbacks(
setupRGBD6Callbacks(
node,
callbackOptions,
subscribedToOdom_,
subscribedToUserData_,
subscribedToScan2d_,
@@ -594,6 +603,7 @@ void CommonDataSubscriber::setupCallbacks(
{
setupRGBD5Callbacks(
node,
callbackOptions,
subscribedToOdom_,
subscribedToUserData_,
subscribedToScan2d_,
@@ -605,6 +615,7 @@ void CommonDataSubscriber::setupCallbacks(
{
setupRGBD4Callbacks(
node,
callbackOptions,
subscribedToOdom_,
subscribedToUserData_,
subscribedToScan2d_,
@@ -616,6 +627,7 @@ void CommonDataSubscriber::setupCallbacks(
{
setupRGBD3Callbacks(
node,
callbackOptions,
subscribedToOdom_,
subscribedToUserData_,
subscribedToScan2d_,
@@ -627,6 +639,7 @@ void CommonDataSubscriber::setupCallbacks(
{
setupRGBD2Callbacks(
node,
callbackOptions,
subscribedToOdom_,
subscribedToUserData_,
subscribedToScan2d_,
@@ -647,6 +660,7 @@ void CommonDataSubscriber::setupCallbacks(
{
setupRGBDXCallbacks(
node,
callbackOptions,
subscribedToOdom_,
subscribedToUserData_,
subscribedToScan2d_,
@@ -658,6 +672,7 @@ void CommonDataSubscriber::setupCallbacks(
{
setupRGBDCallbacks(
node,
callbackOptions,
subscribedToOdom_,
subscribedToUserData_,
subscribedToScan2d_,
@@ -670,6 +685,7 @@ void CommonDataSubscriber::setupCallbacks(
{
setupScanCallbacks(
node,
callbackOptions,
subscribedToScan2d_,
subscribedToScanDescriptor_,
subscribedToOdom_,
@@ -680,6 +696,7 @@ void CommonDataSubscriber::setupCallbacks(
{
setupSensorDataCallbacks(
node,
callbackOptions,
subscribedToOdom_,
subscribedToOdomInfo_);
}
@@ -687,6 +704,7 @@ void CommonDataSubscriber::setupCallbacks(
{
setupOdomCallbacks(
node,
callbackOptions,
subscribedToUserData_,
subscribedToOdomInfo_);
}
rtabmap_sync/src/impl/CommonDataSubscriberDepth.cpp
+36 -35
View File
@@ -457,6 +457,7 @@ void CommonDataSubscriber::depthOdomDataScanDescInfoCallback(
void CommonDataSubscriber::setupDepthCallbacks(
rclcpp::Node& node,
const rclcpp::SubscriptionOptions & options,
bool subscribeOdom,
#ifdef RTABMAP_SYNC_USER_DATA
bool subscribeUserData,
@@ -471,24 +472,24 @@ void CommonDataSubscriber::setupDepthCallbacks(
RCLCPP_INFO(node.get_logger(), "Setup depth callback");
image_transport::TransportHints hints(&node);
imageSub_.subscribe(&node, "rgb/image", hints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability(qosImage_).get_rmw_qos_profile());
imageDepthSub_.subscribe(&node, "depth/image", hints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability(qosImage_).get_rmw_qos_profile());
cameraInfoSub_.subscribe(&node, "rgb/camera_info", rclcpp::QoS(topicQueueSize_).reliability(qosCameraInfo_).get_rmw_qos_profile());
imageSub_.subscribe(&node, "rgb/image", hints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability(qosImage_).get_rmw_qos_profile(), options);
imageDepthSub_.subscribe(&node, "depth/image", hints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability(qosImage_).get_rmw_qos_profile(), options);
cameraInfoSub_.subscribe(&node, "rgb/camera_info", rclcpp::QoS(topicQueueSize_).reliability(qosCameraInfo_).get_rmw_qos_profile(), options);
#ifdef RTABMAP_SYNC_USER_DATA
if(subscribeOdom && subscribeUserData)
{
odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile());
userDataSub_.subscribe(&node, "user_data", rclcpp::QoS(topicQueueSize_).reliability(qosUserData_).get_rmw_qos_profile());
odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
userDataSub_.subscribe(&node, "user_data", rclcpp::QoS(topicQueueSize_).reliability(qosUserData_).get_rmw_qos_profile(), options);
if(subscribeScanDesc)
{
subscribedToScanDescriptor_ = true;
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile());
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
SYNC_DECL7(CommonDataSubscriber, depthOdomDataScanDescInfo, approxSync_, syncQueueSize_, odomSub_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanDescSub_, odomInfoSub_);
}
else
@@ -499,11 +500,11 @@ void CommonDataSubscriber::setupDepthCallbacks(
else if(subscribeScan2d)
{
subscribedToScan2d_ = true;
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile());
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
SYNC_DECL7(CommonDataSubscriber, depthOdomDataScan2dInfo, approxSync_, syncQueueSize_, odomSub_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanSub_, odomInfoSub_);
}
else
@@ -514,11 +515,11 @@ void CommonDataSubscriber::setupDepthCallbacks(
else if(subscribeScan3d)
{
subscribedToScan3d_ = true;
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile());
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
SYNC_DECL7(CommonDataSubscriber, depthOdomDataScan3dInfo, approxSync_, syncQueueSize_, odomSub_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scan3dSub_, odomInfoSub_);
}
else
@@ -529,7 +530,7 @@ void CommonDataSubscriber::setupDepthCallbacks(
else if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile());
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
SYNC_DECL6(CommonDataSubscriber, depthOdomDataInfo, approxSync_, syncQueueSize_, odomSub_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, odomInfoSub_);
}
else
@@ -541,16 +542,16 @@ void CommonDataSubscriber::setupDepthCallbacks(
#endif
if(subscribeOdom)
{
odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile());
odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
if(subscribeScanDesc)
{
subscribedToScanDescriptor_ = true;
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile());
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
SYNC_DECL6(CommonDataSubscriber, depthOdomScanDescInfo, approxSync_, syncQueueSize_, odomSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanDescSub_, odomInfoSub_);
}
else
@@ -561,11 +562,11 @@ void CommonDataSubscriber::setupDepthCallbacks(
else if(subscribeScan2d)
{
subscribedToScan2d_ = true;
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile());
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
SYNC_DECL6(CommonDataSubscriber, depthOdomScan2dInfo, approxSync_, syncQueueSize_, odomSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanSub_, odomInfoSub_);
}
else
@@ -576,11 +577,11 @@ void CommonDataSubscriber::setupDepthCallbacks(
else if(subscribeScan3d)
{
subscribedToScan3d_ = true;
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile());
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
SYNC_DECL6(CommonDataSubscriber, depthOdomScan3dInfo, approxSync_, syncQueueSize_, odomSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scan3dSub_, odomInfoSub_);
}
else
@@ -591,7 +592,7 @@ void CommonDataSubscriber::setupDepthCallbacks(
else if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile());
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
SYNC_DECL5(CommonDataSubscriber, depthOdomInfo, approxSync_, syncQueueSize_, odomSub_, imageSub_, imageDepthSub_, cameraInfoSub_, odomInfoSub_);
}
else
@@ -602,17 +603,17 @@ void CommonDataSubscriber::setupDepthCallbacks(
#ifdef RTABMAP_SYNC_USER_DATA
else if(subscribeUserData)
{
userDataSub_.subscribe(&node, "user_data", rclcpp::QoS(topicQueueSize_).reliability(qosUserData_).get_rmw_qos_profile());
userDataSub_.subscribe(&node, "user_data", rclcpp::QoS(topicQueueSize_).reliability(qosUserData_).get_rmw_qos_profile(), options);
if(subscribeScanDesc)
{
subscribedToScanDescriptor_ = true;
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile());
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
SYNC_DECL6(CommonDataSubscriber, depthDataScanDescInfo, approxSync_, syncQueueSize_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanDescSub_, odomInfoSub_);
}
else
@@ -623,12 +624,12 @@ void CommonDataSubscriber::setupDepthCallbacks(
else if(subscribeScan2d)
{
subscribedToScan2d_ = true;
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile());
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
SYNC_DECL6(CommonDataSubscriber, depthDataScan2dInfo, approxSync_, syncQueueSize_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanSub_, odomInfoSub_);
}
else
@@ -639,11 +640,11 @@ void CommonDataSubscriber::setupDepthCallbacks(
else if(subscribeScan3d)
{
subscribedToScan3d_ = true;
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile());
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
SYNC_DECL6(CommonDataSubscriber, depthDataScan3dInfo, approxSync_, syncQueueSize_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scan3dSub_, odomInfoSub_);
}
else
@@ -654,7 +655,7 @@ void CommonDataSubscriber::setupDepthCallbacks(
else if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile());
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
SYNC_DECL5(CommonDataSubscriber, depthDataInfo, approxSync_, syncQueueSize_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, odomInfoSub_);
}
else
@@ -668,11 +669,11 @@ void CommonDataSubscriber::setupDepthCallbacks(
if(subscribeScanDesc)
{
subscribedToScanDescriptor_ = true;
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile());
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
SYNC_DECL5(CommonDataSubscriber, depthScanDescInfo, approxSync_, syncQueueSize_, imageSub_, imageDepthSub_, cameraInfoSub_, scanDescSub_, odomInfoSub_);
}
else
@@ -683,11 +684,11 @@ void CommonDataSubscriber::setupDepthCallbacks(
else if(subscribeScan2d)
{
subscribedToScan2d_ = true;
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile());
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
SYNC_DECL5(CommonDataSubscriber, depthScan2dInfo, approxSync_, syncQueueSize_, imageSub_, imageDepthSub_, cameraInfoSub_, scanSub_, odomInfoSub_);
}
else
@@ -698,11 +699,11 @@ void CommonDataSubscriber::setupDepthCallbacks(
else if(subscribeScan3d)
{
subscribedToScan3d_ = true;
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile());
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
SYNC_DECL5(CommonDataSubscriber, depthScan3dInfo, approxSync_, syncQueueSize_, imageSub_, imageDepthSub_, cameraInfoSub_, scan3dSub_, odomInfoSub_);
}
else
@@ -713,7 +714,7 @@ void CommonDataSubscriber::setupDepthCallbacks(
else if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile());
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
SYNC_DECL4(CommonDataSubscriber, depthInfo, approxSync_, syncQueueSize_, imageSub_, imageDepthSub_, cameraInfoSub_, odomInfoSub_);
}
else
rtabmap_sync/src/impl/CommonDataSubscriberOdom.cpp
+5 -4
View File
@@ -65,6 +65,7 @@ void CommonDataSubscriber::odomDataInfoCallback(
void CommonDataSubscriber::setupOdomCallbacks(
rclcpp::Node& node,
const rclcpp::SubscriptionOptions & options,
bool subscribeUserData,
bool subscribeOdomInfo)
{
@@ -72,16 +73,16 @@ void CommonDataSubscriber::setupOdomCallbacks(
if(subscribeUserData || subscribeOdomInfo)
{
odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile());
odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
#ifdef RTABMAP_SYNC_USER_DATA
if(subscribeUserData)
{
userDataSub_.subscribe(&node, "user_data", rclcpp::QoS(topicQueueSize_).reliability(qosUserData_).get_rmw_qos_profile());
userDataSub_.subscribe(&node, "user_data", rclcpp::QoS(topicQueueSize_).reliability(qosUserData_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile());
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
SYNC_DECL3(CommonDataSubscriber, odomDataInfo, approxSync_, syncQueueSize_, odomSub_, userDataSub_, odomInfoSub_);
}
else
@@ -94,7 +95,7 @@ void CommonDataSubscriber::setupOdomCallbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile());
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
SYNC_DECL2(CommonDataSubscriber, odomInfo, approxSync_, syncQueueSize_, odomSub_, odomInfoSub_);
}
}
rtabmap_sync/src/impl/CommonDataSubscriberRGB.cpp
+35 -34
View File
@@ -457,6 +457,7 @@ void CommonDataSubscriber::rgbOdomDataScanDescInfoCallback(
void CommonDataSubscriber::setupRGBCallbacks(
rclcpp::Node& node,
const rclcpp::SubscriptionOptions & options,
bool subscribeOdom,
#ifdef RTABMAP_SYNC_USER_DATA
bool subscribeUserData,
@@ -471,23 +472,23 @@ void CommonDataSubscriber::setupRGBCallbacks(
RCLCPP_INFO(node.get_logger(), "Setup rgb-only callback");
image_transport::TransportHints hints(&node);
imageSub_.subscribe(&node, "rgb/image", hints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability(qosImage_).get_rmw_qos_profile());
cameraInfoSub_.subscribe(&node, "rgb/camera_info", rclcpp::QoS(topicQueueSize_).reliability(qosCameraInfo_).get_rmw_qos_profile());
imageSub_.subscribe(&node, "rgb/image", hints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability(qosImage_).get_rmw_qos_profile(), options);
cameraInfoSub_.subscribe(&node, "rgb/camera_info", rclcpp::QoS(topicQueueSize_).reliability(qosCameraInfo_).get_rmw_qos_profile(), options);
#ifdef RTABMAP_SYNC_USER_DATA
if(subscribeOdom && subscribeUserData)
{
odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile());
userDataSub_.subscribe(&node, "user_data", rclcpp::QoS(topicQueueSize_).reliability(qosUserData_).get_rmw_qos_profile());
odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
userDataSub_.subscribe(&node, "user_data", rclcpp::QoS(topicQueueSize_).reliability(qosUserData_).get_rmw_qos_profile(), options);
if(subscribeScanDesc)
{
subscribedToScanDescriptor_ = true;
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile());
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
SYNC_DECL6(CommonDataSubscriber, rgbOdomDataScanDescInfo, approxSync_, syncQueueSize_, odomSub_, userDataSub_, imageSub_, cameraInfoSub_, scanDescSub_, odomInfoSub_);
}
else
@@ -498,11 +499,11 @@ void CommonDataSubscriber::setupRGBCallbacks(
else if(subscribeScan2d)
{
subscribedToScan2d_ = true;
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile());
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
SYNC_DECL6(CommonDataSubscriber, rgbOdomDataScan2dInfo, approxSync_, syncQueueSize_, odomSub_, userDataSub_, imageSub_, cameraInfoSub_, scanSub_, odomInfoSub_);
}
else
@@ -513,11 +514,11 @@ void CommonDataSubscriber::setupRGBCallbacks(
else if(subscribeScan3d)
{
subscribedToScan3d_ = true;
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile());
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
SYNC_DECL6(CommonDataSubscriber, rgbOdomDataScan3dInfo, approxSync_, syncQueueSize_, odomSub_, userDataSub_, imageSub_, cameraInfoSub_, scan3dSub_, odomInfoSub_);
}
else
@@ -528,7 +529,7 @@ void CommonDataSubscriber::setupRGBCallbacks(
else if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile());
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
SYNC_DECL5(CommonDataSubscriber, rgbOdomDataInfo, approxSync_, syncQueueSize_, odomSub_, userDataSub_, imageSub_, cameraInfoSub_, odomInfoSub_);
}
else
@@ -540,16 +541,16 @@ void CommonDataSubscriber::setupRGBCallbacks(
#endif
if(subscribeOdom)
{
odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile());
odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
if(subscribeScanDesc)
{
subscribedToScanDescriptor_ = true;
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile());
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
SYNC_DECL5(CommonDataSubscriber, rgbOdomScanDescInfo, approxSync_, syncQueueSize_, odomSub_, imageSub_, cameraInfoSub_, scanDescSub_, odomInfoSub_);
}
else
@@ -560,11 +561,11 @@ void CommonDataSubscriber::setupRGBCallbacks(
else if(subscribeScan2d)
{
subscribedToScan2d_ = true;
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile());
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
SYNC_DECL5(CommonDataSubscriber, rgbOdomScan2dInfo, approxSync_, syncQueueSize_, odomSub_, imageSub_, cameraInfoSub_, scanSub_, odomInfoSub_);
}
else
@@ -575,11 +576,11 @@ void CommonDataSubscriber::setupRGBCallbacks(
else if(subscribeScan3d)
{
subscribedToScan3d_ = true;
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile());
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
SYNC_DECL5(CommonDataSubscriber, rgbOdomScan3dInfo, approxSync_, syncQueueSize_, odomSub_, imageSub_, cameraInfoSub_, scan3dSub_, odomInfoSub_);
}
else
@@ -590,7 +591,7 @@ void CommonDataSubscriber::setupRGBCallbacks(
else if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile());
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
SYNC_DECL4(CommonDataSubscriber, rgbOdomInfo, approxSync_, syncQueueSize_, odomSub_, imageSub_, cameraInfoSub_, odomInfoSub_);
}
else
@@ -601,17 +602,17 @@ void CommonDataSubscriber::setupRGBCallbacks(
#ifdef RTABMAP_SYNC_USER_DATA
else if(subscribeUserData)
{
userDataSub_.subscribe(&node, "user_data", rclcpp::QoS(topicQueueSize_).reliability(qosUserData_).get_rmw_qos_profile());
userDataSub_.subscribe(&node, "user_data", rclcpp::QoS(topicQueueSize_).reliability(qosUserData_).get_rmw_qos_profile(), options);
if(subscribeScanDesc)
{
subscribedToScanDescriptor_ = true;
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile());
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
SYNC_DECL5(CommonDataSubscriber, rgbDataScanDescInfo, approxSync_, syncQueueSize_, userDataSub_, imageSub_, cameraInfoSub_, scanDescSub_, odomInfoSub_);
}
else
@@ -622,12 +623,12 @@ void CommonDataSubscriber::setupRGBCallbacks(
else if(subscribeScan2d)
{
subscribedToScan2d_ = true;
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile());
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
SYNC_DECL5(CommonDataSubscriber, rgbDataScan2dInfo, approxSync_, syncQueueSize_, userDataSub_, imageSub_, cameraInfoSub_, scanSub_, odomInfoSub_);
}
else
@@ -638,11 +639,11 @@ void CommonDataSubscriber::setupRGBCallbacks(
else if(subscribeScan3d)
{
subscribedToScan3d_ = true;
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile());
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
SYNC_DECL5(CommonDataSubscriber, rgbDataScan3dInfo, approxSync_, syncQueueSize_, userDataSub_, imageSub_, cameraInfoSub_, scan3dSub_, odomInfoSub_);
}
else
@@ -653,7 +654,7 @@ void CommonDataSubscriber::setupRGBCallbacks(
else if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile());
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
SYNC_DECL4(CommonDataSubscriber, rgbDataInfo, approxSync_, syncQueueSize_, userDataSub_, imageSub_, cameraInfoSub_, odomInfoSub_);
}
else
@@ -667,11 +668,11 @@ void CommonDataSubscriber::setupRGBCallbacks(
if(subscribeScanDesc)
{
subscribedToScanDescriptor_ = true;
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile());
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
SYNC_DECL4(CommonDataSubscriber, rgbScanDescInfo, approxSync_, syncQueueSize_, imageSub_, cameraInfoSub_, scanDescSub_, odomInfoSub_);
}
else
@@ -682,11 +683,11 @@ void CommonDataSubscriber::setupRGBCallbacks(
else if(subscribeScan2d)
{
subscribedToScan2d_ = true;
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile());
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
SYNC_DECL4(CommonDataSubscriber, rgbScan2dInfo, approxSync_, syncQueueSize_, imageSub_, cameraInfoSub_, scanSub_, odomInfoSub_);
}
else
@@ -697,11 +698,11 @@ void CommonDataSubscriber::setupRGBCallbacks(
else if(subscribeScan3d)
{
subscribedToScan3d_ = true;
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile());
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
SYNC_DECL4(CommonDataSubscriber, rgbScan3dInfo, approxSync_, syncQueueSize_, imageSub_, cameraInfoSub_, scan3dSub_, odomInfoSub_);
}
else
@@ -712,7 +713,7 @@ void CommonDataSubscriber::setupRGBCallbacks(
else if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile());
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
SYNC_DECL3(CommonDataSubscriber, rgbInfo, approxSync_, syncQueueSize_, imageSub_, cameraInfoSub_, odomInfoSub_);
}
else
rtabmap_sync/src/impl/CommonDataSubscriberRGBD.cpp
+22 -21
View File
@@ -531,6 +531,7 @@ void CommonDataSubscriber::rgbdOdomDataInfoCallback(
void CommonDataSubscriber::setupRGBDCallbacks(
rclcpp::Node& node,
const rclcpp::SubscriptionOptions & options,
bool subscribeOdom,
#ifdef RTABMAP_SYNC_USER_DATA
bool subscribeUserData,
@@ -555,17 +556,17 @@ void CommonDataSubscriber::setupRGBDCallbacks(
{
rgbdSubs_.resize(1);
rgbdSubs_[0] = new message_filters::Subscriber<rtabmap_msgs::msg::RGBDImage>;
rgbdSubs_[0]->subscribe(&node, "rgbd_image", rclcpp::QoS(topicQueueSize_).reliability(qosImage_).get_rmw_qos_profile());
rgbdSubs_[0]->subscribe(&node, "rgbd_image", rclcpp::QoS(topicQueueSize_).reliability(qosImage_).get_rmw_qos_profile(), options);
#ifdef RTABMAP_SYNC_USER_DATA
if(subscribeOdom && subscribeUserData)
{
odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile());
userDataSub_.subscribe(&node, "user_data", rclcpp::QoS(topicQueueSize_).reliability(qosUserData_).get_rmw_qos_profile());
odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
userDataSub_.subscribe(&node, "user_data", rclcpp::QoS(topicQueueSize_).reliability(qosUserData_).get_rmw_qos_profile(), options);
if(subscribeScanDesc)
{
subscribedToScanDescriptor_ = true;
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -576,7 +577,7 @@ void CommonDataSubscriber::setupRGBDCallbacks(
else if(subscribeScan2d)
{
subscribedToScan2d_ = true;
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -587,7 +588,7 @@ void CommonDataSubscriber::setupRGBDCallbacks(
else if(subscribeScan3d)
{
subscribedToScan3d_ = true;
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -598,7 +599,7 @@ void CommonDataSubscriber::setupRGBDCallbacks(
else if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile());
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
SYNC_DECL4(CommonDataSubscriber, rgbdOdomDataInfo, approxSync_, syncQueueSize_, odomSub_, userDataSub_, (*rgbdSubs_[0]), odomInfoSub_);
}
else
@@ -610,11 +611,11 @@ void CommonDataSubscriber::setupRGBDCallbacks(
#endif
if(subscribeOdom)
{
odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile());
odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
if(subscribeScanDesc)
{
subscribedToScanDescriptor_ = true;
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -625,7 +626,7 @@ void CommonDataSubscriber::setupRGBDCallbacks(
else if(subscribeScan2d)
{
subscribedToScan2d_ = true;
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -636,7 +637,7 @@ void CommonDataSubscriber::setupRGBDCallbacks(
else if(subscribeScan3d)
{
subscribedToScan3d_ = true;
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -647,7 +648,7 @@ void CommonDataSubscriber::setupRGBDCallbacks(
else if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile());
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
SYNC_DECL3(CommonDataSubscriber, rgbdOdomInfo, approxSync_, syncQueueSize_, odomSub_, (*rgbdSubs_[0]), odomInfoSub_);
}
else
@@ -658,11 +659,11 @@ void CommonDataSubscriber::setupRGBDCallbacks(
#ifdef RTABMAP_SYNC_USER_DATA
else if(subscribeUserData)
{
userDataSub_.subscribe(&node, "user_data", rclcpp::QoS(topicQueueSize_).reliability(qosUserData_).get_rmw_qos_profile());
userDataSub_.subscribe(&node, "user_data", rclcpp::QoS(topicQueueSize_).reliability(qosUserData_).get_rmw_qos_profile(), options);
if(subscribeScanDesc)
{
subscribedToScanDescriptor_ = true;
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -673,7 +674,7 @@ void CommonDataSubscriber::setupRGBDCallbacks(
else if(subscribeScan2d)
{
subscribedToScan2d_ = true;
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -684,7 +685,7 @@ void CommonDataSubscriber::setupRGBDCallbacks(
else if(subscribeScan3d)
{
subscribedToScan3d_ = true;
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -695,7 +696,7 @@ void CommonDataSubscriber::setupRGBDCallbacks(
else if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile());
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
SYNC_DECL3(CommonDataSubscriber, rgbdDataInfo, approxSync_, syncQueueSize_, userDataSub_, (*rgbdSubs_[0]), odomInfoSub_);
}
else
@@ -709,7 +710,7 @@ void CommonDataSubscriber::setupRGBDCallbacks(
if(subscribeScanDesc)
{
subscribedToScanDescriptor_ = true;
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -720,7 +721,7 @@ void CommonDataSubscriber::setupRGBDCallbacks(
else if(subscribeScan2d)
{
subscribedToScan2d_ = true;
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -731,7 +732,7 @@ void CommonDataSubscriber::setupRGBDCallbacks(
else if(subscribeScan3d)
{
subscribedToScan3d_ = true;
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -742,7 +743,7 @@ void CommonDataSubscriber::setupRGBDCallbacks(
else if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile());
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
SYNC_DECL2(CommonDataSubscriber, rgbdInfo, approxSync_, syncQueueSize_, (*rgbdSubs_[0]), odomInfoSub_);
}
else
rtabmap_sync/src/impl/CommonDataSubscriberRGBD2.cpp
+22 -21
View File
@@ -343,6 +343,7 @@ void CommonDataSubscriber::rgbd2OdomDataInfoCallback(
void CommonDataSubscriber::setupRGBD2Callbacks(
rclcpp::Node& node,
const rclcpp::SubscriptionOptions & options,
bool subscribeOdom,
#ifdef RTABMAP_SYNC_USER_DATA
bool subscribeUserData,
@@ -360,17 +361,17 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
for(int i=0; i<2; ++i)
{
rgbdSubs_[i] = new message_filters::Subscriber<rtabmap_msgs::msg::RGBDImage>;
rgbdSubs_[i]->subscribe(&node, uFormat("rgbd_image%d", i), rclcpp::QoS(topicQueueSize_).reliability(qosImage_).get_rmw_qos_profile());
rgbdSubs_[i]->subscribe(&node, uFormat("rgbd_image%d", i), rclcpp::QoS(topicQueueSize_).reliability(qosImage_).get_rmw_qos_profile(), options);
}
#ifdef RTABMAP_SYNC_USER_DATA
if(subscribeOdom && subscribeUserData)
{
odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile());
userDataSub_.subscribe(&node, "user_data", rclcpp::QoS(topicQueueSize_).reliability(qosUserData_).get_rmw_qos_profile());
odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
userDataSub_.subscribe(&node, "user_data", rclcpp::QoS(topicQueueSize_).reliability(qosUserData_).get_rmw_qos_profile(), options);
if(subscribeScanDesc)
{
subscribedToScanDescriptor_ = true;
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -381,7 +382,7 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
else if(subscribeScan2d)
{
subscribedToScan2d_ = true;
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -392,7 +393,7 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
else if(subscribeScan3d)
{
subscribedToScan3d_ = true;
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -403,7 +404,7 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
else if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile());
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
SYNC_DECL5(CommonDataSubscriber, rgbd2OdomDataInfo, approxSync_, syncQueueSize_, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), odomInfoSub_);
}
else
@@ -415,11 +416,11 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
#endif
if(subscribeOdom)
{
odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile());
odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
if(subscribeScanDesc)
{
subscribedToScanDescriptor_ = true;
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -430,7 +431,7 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
else if(subscribeScan2d)
{
subscribedToScan2d_ = true;
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -441,7 +442,7 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
else if(subscribeScan3d)
{
subscribedToScan3d_ = true;
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -452,7 +453,7 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
else if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile());
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
SYNC_DECL4(CommonDataSubscriber, rgbd2OdomInfo, approxSync_, syncQueueSize_, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), odomInfoSub_);
}
else
@@ -463,11 +464,11 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
#ifdef RTABMAP_SYNC_USER_DATA
else if(subscribeUserData)
{
userDataSub_.subscribe(&node, "user_data", rclcpp::QoS(topicQueueSize_).reliability(qosUserData_).get_rmw_qos_profile());
userDataSub_.subscribe(&node, "user_data", rclcpp::QoS(topicQueueSize_).reliability(qosUserData_).get_rmw_qos_profile(), options);
if(subscribeScanDesc)
{
subscribedToScanDescriptor_ = true;
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -478,7 +479,7 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
else if(subscribeScan2d)
{
subscribedToScan2d_ = true;
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -489,7 +490,7 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
else if(subscribeScan3d)
{
subscribedToScan3d_ = true;
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -500,7 +501,7 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
else if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile());
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
SYNC_DECL4(CommonDataSubscriber, rgbd2DataInfo, approxSync_, syncQueueSize_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), odomInfoSub_);
}
else
@@ -514,7 +515,7 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
if(subscribeScanDesc)
{
subscribedToScanDescriptor_ = true;
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -525,7 +526,7 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
else if(subscribeScan2d)
{
subscribedToScan2d_ = true;
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -536,7 +537,7 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
else if(subscribeScan3d)
{
subscribedToScan3d_ = true;
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -547,7 +548,7 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
else if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile());
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
SYNC_DECL3(CommonDataSubscriber, rgbd2Info, approxSync_, syncQueueSize_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), odomInfoSub_);
}
else
rtabmap_sync/src/impl/CommonDataSubscriberRGBD3.cpp
+22 -21
View File
@@ -431,6 +431,7 @@ void CommonDataSubscriber::rgbd3OdomDataInfoCallback(
void CommonDataSubscriber::setupRGBD3Callbacks(
rclcpp::Node& node,
const rclcpp::SubscriptionOptions & options,
bool subscribeOdom,
#ifdef RTABMAP_SYNC_USER_DATA
bool subscribeUserData,
@@ -448,17 +449,17 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
for(int i=0; i<3; ++i)
{
rgbdSubs_[i] = new message_filters::Subscriber<rtabmap_msgs::msg::RGBDImage>;
rgbdSubs_[i]->subscribe(&node, uFormat("rgbd_image%d", i), rclcpp::QoS(topicQueueSize_).reliability(qosImage_).get_rmw_qos_profile());
rgbdSubs_[i]->subscribe(&node, uFormat("rgbd_image%d", i), rclcpp::QoS(topicQueueSize_).reliability(qosImage_).get_rmw_qos_profile(), options);
}
#ifdef RTABMAP_SYNC_USER_DATA
if(subscribeOdom && subscribeUserData)
{
odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile());
userDataSub_.subscribe(&node, "user_data", rclcpp::QoS(topicQueueSize_).reliability(qosUserData_).get_rmw_qos_profile());
odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
userDataSub_.subscribe(&node, "user_data", rclcpp::QoS(topicQueueSize_).reliability(qosUserData_).get_rmw_qos_profile(), options);
if(subscribeScanDescriptor)
{
subscribedToScanDescriptor_ = true;
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -469,7 +470,7 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
else if(subscribeScan2d)
{
subscribedToScan2d_ = true;
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -480,7 +481,7 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
else if(subscribeScan3d)
{
subscribedToScan3d_ = true;
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -491,7 +492,7 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
else if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile());
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
SYNC_DECL6(CommonDataSubscriber, rgbd3OdomDataInfo, approxSync_, syncQueueSize_, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), odomInfoSub_);
}
else
@@ -503,11 +504,11 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
#endif
if(subscribeOdom)
{
odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile());
odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
if(subscribeScanDescriptor)
{
subscribedToScanDescriptor_ = true;
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -518,7 +519,7 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
else if(subscribeScan2d)
{
subscribedToScan2d_ = true;
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -529,7 +530,7 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
else if(subscribeScan3d)
{
subscribedToScan3d_ = true;
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -540,7 +541,7 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
else if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile());
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
SYNC_DECL5(CommonDataSubscriber, rgbd3OdomInfo, approxSync_, syncQueueSize_, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), odomInfoSub_);
}
else
@@ -551,11 +552,11 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
#ifdef RTABMAP_SYNC_USER_DATA
else if(subscribeUserData)
{
userDataSub_.subscribe(&node, "user_data", rclcpp::QoS(topicQueueSize_).reliability(qosUserData_).get_rmw_qos_profile());
userDataSub_.subscribe(&node, "user_data", rclcpp::QoS(topicQueueSize_).reliability(qosUserData_).get_rmw_qos_profile(), options);
if(subscribeScanDescriptor)
{
subscribedToScanDescriptor_ = true;
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -566,7 +567,7 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
else if(subscribeScan2d)
{
subscribedToScan2d_ = true;
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -577,7 +578,7 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
else if(subscribeScan3d)
{
subscribedToScan3d_ = true;
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -588,7 +589,7 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
else if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile());
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
SYNC_DECL5(CommonDataSubscriber, rgbd3DataInfo, approxSync_, syncQueueSize_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), odomInfoSub_);
}
else
@@ -602,7 +603,7 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
if(subscribeScanDescriptor)
{
subscribedToScanDescriptor_ = true;
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -613,7 +614,7 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
else if(subscribeScan2d)
{
subscribedToScan2d_ = true;
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -624,7 +625,7 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
else if(subscribeScan3d)
{
subscribedToScan3d_ = true;
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
@@ -636,7 +637,7 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
else if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile());
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
SYNC_DECL4(CommonDataSubscriber, rgbd3Info, approxSync_, syncQueueSize_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), odomInfoSub_);
}
else
rtabmap_sync/src/impl/CommonDataSubscriberRGBD4.cpp
+22 -21
View File
@@ -400,6 +400,7 @@ void CommonDataSubscriber::rgbd4OdomDataInfoCallback(
void CommonDataSubscriber::setupRGBD4Callbacks(
rclcpp::Node& node,
const rclcpp::SubscriptionOptions & options,
bool subscribeOdom,
#ifdef RTABMAP_SYNC_USER_DATA
bool subscribeUserData,
@@ -417,17 +418,17 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
for(int i=0; i<4; ++i)
{
rgbdSubs_[i] = new message_filters::Subscriber<rtabmap_msgs::msg::RGBDImage>;
rgbdSubs_[i]->subscribe(&node, uFormat("rgbd_image%d", i), rclcpp::QoS(topicQueueSize_).reliability(qosImage_).get_rmw_qos_profile());
rgbdSubs_[i]->subscribe(&node, uFormat("rgbd_image%d", i), rclcpp::QoS(topicQueueSize_).reliability(qosImage_).get_rmw_qos_profile(), options);
}
#ifdef RTABMAP_SYNC_USER_DATA
if(subscribeOdom && subscribeUserData)
{
odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile());
userDataSub_.subscribe(&node, "user_data", rclcpp::QoS(topicQueueSize_).reliability(qosUserData_).get_rmw_qos_profile());
odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
userDataSub_.subscribe(&node, "user_data", rclcpp::QoS(topicQueueSize_).reliability(qosUserData_).get_rmw_qos_profile(), options);
if(subscribeScanDesc)
{
subscribedToScanDescriptor_ = true;
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -438,7 +439,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
else if(subscribeScan2d)
{
subscribedToScan2d_ = true;
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -449,7 +450,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
else if(subscribeScan3d)
{
subscribedToScan3d_ = true;
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -460,7 +461,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
else if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile());
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
SYNC_DECL7(CommonDataSubscriber, rgbd4OdomDataInfo, approxSync_, syncQueueSize_, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), odomInfoSub_);
}
else
@@ -472,11 +473,11 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
#endif
if(subscribeOdom)
{
odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile());
odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
if(subscribeScanDesc)
{
subscribedToScanDescriptor_ = true;
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -487,7 +488,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
else if(subscribeScan2d)
{
subscribedToScan2d_ = true;
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -498,7 +499,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
else if(subscribeScan3d)
{
subscribedToScan3d_ = true;
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -509,7 +510,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
else if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile());
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
SYNC_DECL6(CommonDataSubscriber, rgbd4OdomInfo, approxSync_, syncQueueSize_, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), odomInfoSub_);
}
else
@@ -520,11 +521,11 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
#ifdef RTABMAP_SYNC_USER_DATA
else if(subscribeUserData)
{
userDataSub_.subscribe(&node, "user_data", rclcpp::QoS(topicQueueSize_).reliability(qosUserData_).get_rmw_qos_profile());
userDataSub_.subscribe(&node, "user_data", rclcpp::QoS(topicQueueSize_).reliability(qosUserData_).get_rmw_qos_profile(), options);
if(subscribeScanDesc)
{
subscribedToScanDescriptor_ = true;
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -535,7 +536,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
else if(subscribeScan2d)
{
subscribedToScan2d_ = true;
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -546,7 +547,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
else if(subscribeScan3d)
{
subscribedToScan3d_ = true;
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -557,7 +558,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
else if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile());
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
SYNC_DECL6(CommonDataSubscriber, rgbd4DataInfo, approxSync_, syncQueueSize_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), odomInfoSub_);
}
else
@@ -571,7 +572,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
if(subscribeScanDesc)
{
subscribedToScanDescriptor_ = true;
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -582,7 +583,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
else if(subscribeScan2d)
{
subscribedToScan2d_ = true;
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -593,7 +594,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
else if(subscribeScan3d)
{
subscribedToScan3d_ = true;
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -604,7 +605,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
else if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile());
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
SYNC_DECL5(CommonDataSubscriber, rgbd4Info, approxSync_, syncQueueSize_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), odomInfoSub_);
}
else
rtabmap_sync/src/impl/CommonDataSubscriberRGBD5.cpp
+11 -10
View File
@@ -256,6 +256,7 @@ void CommonDataSubscriber::rgbd5OdomInfoCallback(
void CommonDataSubscriber::setupRGBD5Callbacks(
rclcpp::Node& node,
const rclcpp::SubscriptionOptions & options,
bool subscribeOdom,
bool /*subscribeUserData*/,
bool subscribeScan2d,
@@ -269,15 +270,15 @@ void CommonDataSubscriber::setupRGBD5Callbacks(
for(int i=0; i<5; ++i)
{
rgbdSubs_[i] = new message_filters::Subscriber<rtabmap_msgs::msg::RGBDImage>;
rgbdSubs_[i]->subscribe(&node, uFormat("rgbd_image%d", i), rclcpp::QoS(topicQueueSize_).reliability(qosImage_).get_rmw_qos_profile());
rgbdSubs_[i]->subscribe(&node, uFormat("rgbd_image%d", i), rclcpp::QoS(topicQueueSize_).reliability(qosImage_).get_rmw_qos_profile(), options);
}
if(subscribeOdom)
{
odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile());
odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
if(subscribeScanDesc)
{
subscribedToScanDescriptor_ = true;
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -288,7 +289,7 @@ void CommonDataSubscriber::setupRGBD5Callbacks(
else if(subscribeScan2d)
{
subscribedToScan2d_ = true;
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -299,7 +300,7 @@ void CommonDataSubscriber::setupRGBD5Callbacks(
else if(subscribeScan3d)
{
subscribedToScan3d_ = true;
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -310,7 +311,7 @@ void CommonDataSubscriber::setupRGBD5Callbacks(
else if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile());
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
SYNC_DECL7(CommonDataSubscriber, rgbd5OdomInfo, approxSync_, syncQueueSize_, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), odomInfoSub_);
}
else
@@ -323,7 +324,7 @@ void CommonDataSubscriber::setupRGBD5Callbacks(
if(subscribeScanDesc)
{
subscribedToScanDescriptor_ = true;
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -334,7 +335,7 @@ void CommonDataSubscriber::setupRGBD5Callbacks(
else if(subscribeScan2d)
{
subscribedToScan2d_ = true;
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -345,7 +346,7 @@ void CommonDataSubscriber::setupRGBD5Callbacks(
else if(subscribeScan3d)
{
subscribedToScan3d_ = true;
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -356,7 +357,7 @@ void CommonDataSubscriber::setupRGBD5Callbacks(
else if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile());
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
SYNC_DECL6(CommonDataSubscriber, rgbd5Info, approxSync_, syncQueueSize_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), odomInfoSub_);
}
else
rtabmap_sync/src/impl/CommonDataSubscriberRGBD6.cpp
+11 -10
View File
@@ -274,6 +274,7 @@ void CommonDataSubscriber::rgbd6OdomInfoCallback(
void CommonDataSubscriber::setupRGBD6Callbacks(
rclcpp::Node& node,
const rclcpp::SubscriptionOptions & options,
bool subscribeOdom,
bool /*subscribeUserData*/,
bool subscribeScan2d,
@@ -287,15 +288,15 @@ void CommonDataSubscriber::setupRGBD6Callbacks(
for(int i=0; i<6; ++i)
{
rgbdSubs_[i] = new message_filters::Subscriber<rtabmap_msgs::msg::RGBDImage>;
rgbdSubs_[i]->subscribe(&node, uFormat("rgbd_image%d", i), rclcpp::QoS(topicQueueSize_).reliability(qosImage_).get_rmw_qos_profile());
rgbdSubs_[i]->subscribe(&node, uFormat("rgbd_image%d", i), rclcpp::QoS(topicQueueSize_).reliability(qosImage_).get_rmw_qos_profile(), options);
}
if(subscribeOdom)
{
odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile());
odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
if(subscribeScanDesc)
{
subscribedToScanDescriptor_ = true;
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -306,7 +307,7 @@ void CommonDataSubscriber::setupRGBD6Callbacks(
else if(subscribeScan2d)
{
subscribedToScan2d_ = true;
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -317,7 +318,7 @@ void CommonDataSubscriber::setupRGBD6Callbacks(
else if(subscribeScan3d)
{
subscribedToScan3d_ = true;
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -328,7 +329,7 @@ void CommonDataSubscriber::setupRGBD6Callbacks(
else if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile());
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
SYNC_DECL8(CommonDataSubscriber, rgbd6OdomInfo, approxSync_, syncQueueSize_, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), (*rgbdSubs_[5]), odomInfoSub_);
}
else
@@ -341,7 +342,7 @@ void CommonDataSubscriber::setupRGBD6Callbacks(
if(subscribeScanDesc)
{
subscribedToScanDescriptor_ = true;
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -352,7 +353,7 @@ void CommonDataSubscriber::setupRGBD6Callbacks(
else if(subscribeScan2d)
{
subscribedToScan2d_ = true;
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -363,7 +364,7 @@ void CommonDataSubscriber::setupRGBD6Callbacks(
else if(subscribeScan3d)
{
subscribedToScan3d_ = true;
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -374,7 +375,7 @@ void CommonDataSubscriber::setupRGBD6Callbacks(
else if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile());
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
SYNC_DECL7(CommonDataSubscriber, rgbd6Info, approxSync_, syncQueueSize_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), (*rgbdSubs_[5]), odomInfoSub_);
}
else
rtabmap_sync/src/impl/CommonDataSubscriberRGBDX.cpp
+22 -21
View File
@@ -319,6 +319,7 @@ void CommonDataSubscriber::rgbdXOdomDataInfoCallback(
void CommonDataSubscriber::setupRGBDXCallbacks(
rclcpp::Node& node,
const rclcpp::SubscriptionOptions & options,
bool subscribeOdom,
#ifdef RTABMAP_SYNC_USER_DATA
bool subscribeUserData,
@@ -332,16 +333,16 @@ void CommonDataSubscriber::setupRGBDXCallbacks(
{
RCLCPP_INFO(node.get_logger(), "Setup rgbdX callback");
rgbdXSub_.subscribe(&node, "rgbd_images", rclcpp::QoS(topicQueueSize_).reliability(qosImage_).get_rmw_qos_profile());
rgbdXSub_.subscribe(&node, "rgbd_images", rclcpp::QoS(topicQueueSize_).reliability(qosImage_).get_rmw_qos_profile(), options);
#ifdef RTABMAP_SYNC_USER_DATA
if(subscribeOdom && subscribeUserData)
{
odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile());
userDataSub_.subscribe(&node, "user_data", rclcpp::QoS(topicQueueSize_).reliability(qosUserData_).get_rmw_qos_profile());
odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
userDataSub_.subscribe(&node, "user_data", rclcpp::QoS(topicQueueSize_).reliability(qosUserData_).get_rmw_qos_profile(), options);
if(subscribeScanDesc)
{
subscribedToScanDescriptor_ = true;
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -352,7 +353,7 @@ void CommonDataSubscriber::setupRGBDXCallbacks(
else if(subscribeScan2d)
{
subscribedToScan2d_ = true;
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -363,7 +364,7 @@ void CommonDataSubscriber::setupRGBDXCallbacks(
else if(subscribeScan3d)
{
subscribedToScan3d_ = true;
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -374,7 +375,7 @@ void CommonDataSubscriber::setupRGBDXCallbacks(
else if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile());
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
SYNC_DECL4(CommonDataSubscriber, rgbdXOdomDataInfo, approxSync_, syncQueueSize_, odomSub_, userDataSub_, rgbdXSub_, odomInfoSub_);
}
else
@@ -386,11 +387,11 @@ void CommonDataSubscriber::setupRGBDXCallbacks(
#endif
if(subscribeOdom)
{
odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile());
odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
if(subscribeScanDesc)
{
subscribedToScanDescriptor_ = true;
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -401,7 +402,7 @@ void CommonDataSubscriber::setupRGBDXCallbacks(
else if(subscribeScan2d)
{
subscribedToScan2d_ = true;
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -412,7 +413,7 @@ void CommonDataSubscriber::setupRGBDXCallbacks(
else if(subscribeScan3d)
{
subscribedToScan3d_ = true;
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -423,7 +424,7 @@ void CommonDataSubscriber::setupRGBDXCallbacks(
else if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile());
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
SYNC_DECL3(CommonDataSubscriber, rgbdXOdomInfo, approxSync_, syncQueueSize_, odomSub_, rgbdXSub_, odomInfoSub_);
}
else
@@ -434,11 +435,11 @@ void CommonDataSubscriber::setupRGBDXCallbacks(
#ifdef RTABMAP_SYNC_USER_DATA
else if(subscribeUserData)
{
userDataSub_.subscribe(&node, "user_data", rclcpp::QoS(topicQueueSize_).reliability(qosUserData_).get_rmw_qos_profile());
userDataSub_.subscribe(&node, "user_data", rclcpp::QoS(topicQueueSize_).reliability(qosUserData_).get_rmw_qos_profile(), options);
if(subscribeScanDesc)
{
subscribedToScanDescriptor_ = true;
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -449,7 +450,7 @@ void CommonDataSubscriber::setupRGBDXCallbacks(
else if(subscribeScan2d)
{
subscribedToScan2d_ = true;
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -460,7 +461,7 @@ void CommonDataSubscriber::setupRGBDXCallbacks(
else if(subscribeScan3d)
{
subscribedToScan3d_ = true;
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -471,7 +472,7 @@ void CommonDataSubscriber::setupRGBDXCallbacks(
else if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile());
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
SYNC_DECL3(CommonDataSubscriber, rgbdXDataInfo, approxSync_, syncQueueSize_, userDataSub_, rgbdXSub_, odomInfoSub_);
}
else
@@ -485,7 +486,7 @@ void CommonDataSubscriber::setupRGBDXCallbacks(
if(subscribeScanDesc)
{
subscribedToScanDescriptor_ = true;
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -496,7 +497,7 @@ void CommonDataSubscriber::setupRGBDXCallbacks(
else if(subscribeScan2d)
{
subscribedToScan2d_ = true;
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -507,7 +508,7 @@ void CommonDataSubscriber::setupRGBDXCallbacks(
else if(subscribeScan3d)
{
subscribedToScan3d_ = true;
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -518,7 +519,7 @@ void CommonDataSubscriber::setupRGBDXCallbacks(
else if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile());
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
SYNC_DECL2(CommonDataSubscriber, rgbdXInfo, approxSync_, syncQueueSize_, rgbdXSub_, odomInfoSub_);
}
else
rtabmap_sync/src/impl/CommonDataSubscriberScan.cpp
+18 -17
View File
@@ -245,6 +245,7 @@ void CommonDataSubscriber::odomDataScanDescInfoCallback(
void CommonDataSubscriber::setupScanCallbacks(
rclcpp::Node& node,
const rclcpp::SubscriptionOptions & options,
bool scan2dTopic,
bool scanDescTopic,
bool subscribeOdom,
@@ -266,31 +267,31 @@ void CommonDataSubscriber::setupScanCallbacks(
if(scanDescTopic)
{
subscribedToScanDescriptor_ = true;
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
}
else if(scan2dTopic)
{
subscribedToScan2d_ = true;
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
}
else
{
subscribedToScan3d_ = true;
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile());
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
}
#ifdef RTABMAP_SYNC_USER_DATA
if(subscribeOdom && subscribeUserData)
{
odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile());
userDataSub_.subscribe(&node, "user_data", rclcpp::QoS(topicQueueSize_).reliability(qosUserData_).get_rmw_qos_profile());
odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
userDataSub_.subscribe(&node, "user_data", rclcpp::QoS(topicQueueSize_).reliability(qosUserData_).get_rmw_qos_profile(), options);
if(scanDescTopic)
{
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile());
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
SYNC_DECL4(CommonDataSubscriber, odomDataScanDescInfo, approxSync_, syncQueueSize_, odomSub_, userDataSub_, scanDescSub_, odomInfoSub_);
}
else
@@ -303,7 +304,7 @@ void CommonDataSubscriber::setupScanCallbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile());
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
SYNC_DECL4(CommonDataSubscriber, odomDataScan2dInfo, approxSync_, syncQueueSize_, odomSub_, userDataSub_, scanSub_, odomInfoSub_);
}
else
@@ -316,7 +317,7 @@ void CommonDataSubscriber::setupScanCallbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile());
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
SYNC_DECL4(CommonDataSubscriber, odomDataScan3dInfo, approxSync_, syncQueueSize_, odomSub_, userDataSub_, scan3dSub_, odomInfoSub_);
}
else
@@ -329,14 +330,14 @@ void CommonDataSubscriber::setupScanCallbacks(
#endif
if(subscribeOdom)
{
odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile());
odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
if(scanDescTopic)
{
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile());
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
SYNC_DECL3(CommonDataSubscriber, odomScanDescInfo, approxSync_, syncQueueSize_, odomSub_, scanDescSub_, odomInfoSub_);
}
else
@@ -349,7 +350,7 @@ void CommonDataSubscriber::setupScanCallbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile());
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
SYNC_DECL3(CommonDataSubscriber, odomScan2dInfo, approxSync_, syncQueueSize_, odomSub_, scanSub_, odomInfoSub_);
}
else
@@ -362,7 +363,7 @@ void CommonDataSubscriber::setupScanCallbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile());
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
SYNC_DECL3(CommonDataSubscriber, odomScan3dInfo, approxSync_, syncQueueSize_, odomSub_, scan3dSub_, odomInfoSub_);
}
else
@@ -374,14 +375,14 @@ void CommonDataSubscriber::setupScanCallbacks(
#ifdef RTABMAP_SYNC_USER_DATA
else if(subscribeUserData)
{
userDataSub_.subscribe(&node, "user_data", rclcpp::QoS(topicQueueSize_).reliability(qosUserData_).get_rmw_qos_profile());
userDataSub_.subscribe(&node, "user_data", rclcpp::QoS(topicQueueSize_).reliability(qosUserData_).get_rmw_qos_profile(), options);
if(scanDescTopic)
{
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile());
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
SYNC_DECL3(CommonDataSubscriber, dataScanDescInfo, approxSync_, syncQueueSize_, userDataSub_, scanDescSub_, odomInfoSub_);
}
else
@@ -394,7 +395,7 @@ void CommonDataSubscriber::setupScanCallbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile());
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
SYNC_DECL3(CommonDataSubscriber, dataScan2dInfo, approxSync_, syncQueueSize_, userDataSub_, scanSub_, odomInfoSub_);
}
else
@@ -407,7 +408,7 @@ void CommonDataSubscriber::setupScanCallbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile());
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
SYNC_DECL3(CommonDataSubscriber, dataScan3dInfo, approxSync_, syncQueueSize_, userDataSub_, scan3dSub_, odomInfoSub_);
}
else
@@ -420,7 +421,7 @@ void CommonDataSubscriber::setupScanCallbacks(
else if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile());
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
if(scanDescTopic)
{
SYNC_DECL2(CommonDataSubscriber, scanDescInfo, approxSync_, syncQueueSize_, scanDescSub_, odomInfoSub_);
rtabmap_sync/src/impl/CommonDataSubscriberSensorData.cpp
+5 -4
View File
@@ -65,19 +65,20 @@ void CommonDataSubscriber::sensorDataOdomInfoCallback(
void CommonDataSubscriber::setupSensorDataCallbacks(
rclcpp::Node& node,
const rclcpp::SubscriptionOptions & options,
bool subscribeOdom,
bool subscribeOdomInfo)
{
RCLCPP_INFO(node.get_logger(), "Setup SensorData callback");
sensorDataSub_.subscribe(&node, "sensor_data", rclcpp::QoS(topicQueueSize_).reliability(qosSensorData_).get_rmw_qos_profile());
sensorDataSub_.subscribe(&node, "sensor_data", rclcpp::QoS(topicQueueSize_).reliability(qosSensorData_).get_rmw_qos_profile(), options);
if(subscribeOdom)
{
odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile());
odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile());
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
SYNC_DECL3(CommonDataSubscriber, sensorDataOdomInfo, approxSync_, syncQueueSize_, odomSub_, sensorDataSub_, odomInfoSub_);
}
else
@@ -90,7 +91,7 @@ void CommonDataSubscriber::setupSensorDataCallbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile());
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
SYNC_DECL2(CommonDataSubscriber, sensorDataInfo, approxSync_, syncQueueSize_, sensorDataSub_, odomInfoSub_);
}
else
rtabmap_sync/src/impl/CommonDataSubscriberStereo.cpp
+8 -7
View File
@@ -87,25 +87,26 @@ void CommonDataSubscriber::stereoOdomInfoCallback(
void CommonDataSubscriber::setupStereoCallbacks(
rclcpp::Node& node,
const rclcpp::SubscriptionOptions & options,
bool subscribeOdom,
bool subscribeOdomInfo)
{
RCLCPP_INFO(node.get_logger(), "Setup stereo callback");
image_transport::TransportHints hints(&node);
imageRectLeft_.subscribe(&node, "left/image_rect", hints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability(qosImage_).get_rmw_qos_profile());
imageRectRight_.subscribe(&node, "right/image_rect", hints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability(qosImage_).get_rmw_qos_profile());
cameraInfoLeft_.subscribe(&node, "left/camera_info", rclcpp::QoS(topicQueueSize_).reliability(qosCameraInfo_).get_rmw_qos_profile());
cameraInfoRight_.subscribe(&node, "right/camera_info", rclcpp::QoS(topicQueueSize_).reliability(qosCameraInfo_).get_rmw_qos_profile());
imageRectLeft_.subscribe(&node, "left/image_rect", hints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability(qosImage_).get_rmw_qos_profile(), options);
imageRectRight_.subscribe(&node, "right/image_rect", hints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability(qosImage_).get_rmw_qos_profile(), options);
cameraInfoLeft_.subscribe(&node, "left/camera_info", rclcpp::QoS(topicQueueSize_).reliability(qosCameraInfo_).get_rmw_qos_profile(), options);
cameraInfoRight_.subscribe(&node, "right/camera_info", rclcpp::QoS(topicQueueSize_).reliability(qosCameraInfo_).get_rmw_qos_profile(), options);
if(subscribeOdom)
{
odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile());
odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile());
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
SYNC_DECL6(CommonDataSubscriber, stereoOdomInfo, approxSync_, syncQueueSize_, odomSub_, imageRectLeft_, imageRectRight_, cameraInfoLeft_, cameraInfoRight_, odomInfoSub_);
}
else
@@ -118,7 +119,7 @@ void CommonDataSubscriber::setupStereoCallbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile());
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
SYNC_DECL5(CommonDataSubscriber, stereoInfo, approxSync_, syncQueueSize_, imageRectLeft_, imageRectRight_, cameraInfoLeft_, cameraInfoRight_, odomInfoSub_);
}
else