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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/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