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ros-pkg: added stereo_throttle plugin
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1895 f169173b-cf89-36c8-b27e-44dbe73f0c83
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matlabbe
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/*
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Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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* Neither the name of the Universite de Sherbrooke nor the
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names of its contributors may be used to endorse or promote products
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derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
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DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#include "ros/ros.h"
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#include "pluginlib/class_list_macros.h"
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#include "nodelet/nodelet.h"
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#include <message_filters/subscriber.h>
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#include <message_filters/time_synchronizer.h>
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#include <message_filters/sync_policies/approximate_time.h>
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#include <image_transport/image_transport.h>
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#include <image_transport/subscriber_filter.h>
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#include <sensor_msgs/CameraInfo.h>
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namespace rtabmap
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{
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class StereoThrottleNodelet : public nodelet::Nodelet
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{
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public:
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//Constructor
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StereoThrottleNodelet():
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max_update_rate_(0),
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approxSync_(0),
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exactSync_(0)
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{
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}
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virtual ~StereoThrottleNodelet()
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{
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if(approxSync_)
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{
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delete approxSync_;
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}
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if(exactSync_)
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{
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delete exactSync_;
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}
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}
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private:
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ros::Time last_update_;
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double max_update_rate_;
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virtual void onInit()
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{
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ros::NodeHandle& nh = getNodeHandle();
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ros::NodeHandle& pnh = getPrivateNodeHandle();
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ros::NodeHandle left_nh(nh, "left");
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ros::NodeHandle right_nh(nh, "right");
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ros::NodeHandle left_pnh(pnh, "left");
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ros::NodeHandle right_pnh(pnh, "right");
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image_transport::ImageTransport left_it(left_nh);
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image_transport::ImageTransport right_it(right_nh);
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image_transport::TransportHints hintsLeft("raw", ros::TransportHints(), left_pnh);
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image_transport::TransportHints hintsRight("raw", ros::TransportHints(), right_pnh);
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int queueSize = 5;
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bool approxSync = false;
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pnh.param("approx_sync", approxSync, approxSync);
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pnh.param("rate", max_update_rate_, max_update_rate_);
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pnh.param("queue_size", queueSize, queueSize);
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ROS_INFO("Approximate time sync = %s", approxSync?"true":"false");
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if(max_update_rate_ == 0.0)
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{
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ROS_WARN("Parameter \"rate\" (Hz) is not set!");
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}
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if(approxSync)
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{
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approxSync_ = new message_filters::Synchronizer<MyApproxSyncPolicy>(MyApproxSyncPolicy(queueSize), imageLeft_, imageRight_, cameraInfoLeft_, cameraInfoRight_);
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approxSync_->registerCallback(boost::bind(&StereoThrottleNodelet::callback, this, _1, _2, _3, _4));
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}
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else
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{
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exactSync_ = new message_filters::Synchronizer<MyExactSyncPolicy>(MyExactSyncPolicy(queueSize), imageLeft_, imageRight_, cameraInfoLeft_, cameraInfoRight_);
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exactSync_->registerCallback(boost::bind(&StereoThrottleNodelet::callback, this, _1, _2, _3, _4));
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}
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imageLeft_.subscribe(left_it, left_nh.resolveName("image"), 1, hintsLeft);
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imageRight_.subscribe(right_it, right_nh.resolveName("image"), 1, hintsRight);
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cameraInfoLeft_.subscribe(left_nh, "camera_info", 1);
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cameraInfoRight_.subscribe(right_nh, "camera_info", 1);
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imageLeftPub_ = left_it.advertise(left_nh.resolveName("image")+"_throttle", 1);
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imageRightPub_ = right_it.advertise(right_nh.resolveName("image")+"_throttle", 1);
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infoLeftPub_ = left_nh.advertise<sensor_msgs::CameraInfo>(left_nh.resolveName("camera_info")+"_throttle", 1);
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infoRightPub_ = right_nh.advertise<sensor_msgs::CameraInfo>(right_nh.resolveName("camera_info")+"_throttle", 1);
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};
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void callback(const sensor_msgs::ImageConstPtr& imageLeft,
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const sensor_msgs::ImageConstPtr& imageRight,
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const sensor_msgs::CameraInfoConstPtr& camInfoLeft,
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const sensor_msgs::CameraInfoConstPtr& camInfoRight)
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{
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if (max_update_rate_ > 0.0)
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{
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NODELET_DEBUG("update set to %f", max_update_rate_);
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if ( last_update_ + ros::Duration(1.0/max_update_rate_) > ros::Time::now())
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{
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NODELET_DEBUG("throttle last update at %f skipping", last_update_.toSec());
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return;
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}
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}
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else
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NODELET_DEBUG("update_rate unset continuing");
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last_update_ = ros::Time::now();
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if(imageLeftPub_.getNumSubscribers())
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{
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imageLeftPub_.publish(imageLeft);
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}
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if(imageRightPub_.getNumSubscribers())
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{
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imageRightPub_.publish(imageRight);
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}
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if(infoLeftPub_.getNumSubscribers())
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{
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infoLeftPub_.publish(camInfoLeft);
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}
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if(infoRightPub_.getNumSubscribers())
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{
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infoRightPub_.publish(camInfoRight);
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}
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}
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image_transport::Publisher imageLeftPub_;
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image_transport::Publisher imageRightPub_;
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ros::Publisher infoLeftPub_;
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ros::Publisher infoRightPub_;
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image_transport::SubscriberFilter imageLeft_;
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image_transport::SubscriberFilter imageRight_;
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message_filters::Subscriber<sensor_msgs::CameraInfo> cameraInfoLeft_;
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message_filters::Subscriber<sensor_msgs::CameraInfo> cameraInfoRight_;
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typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo> MyApproxSyncPolicy;
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message_filters::Synchronizer<MyApproxSyncPolicy> * approxSync_;
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typedef message_filters::sync_policies::ExactTime<sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo> MyExactSyncPolicy;
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message_filters::Synchronizer<MyExactSyncPolicy> * exactSync_;
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};
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PLUGINLIB_EXPORT_CLASS(rtabmap::StereoThrottleNodelet, nodelet::Nodelet);
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}
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