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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
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rtabmap_sync/src/impl/CommonDataSubscriberOdom.cpp
+5 -4
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@@ -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_);
}
}