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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/CommonDataSubscriberRGBD.cpp
+22 -21
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@@ -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