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Split queue_size param into sync_queue_size and topic_queue_size parameters for more fine tuning of topic synchronization (#1054)

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This commit is contained in:
matlabbe
2024-06-11 22:35:54 -07:00
parent 9ced85d5f8
commit ae44e1a215
33 changed files with 882 additions and 779 deletions
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rtabmap_sync/src/impl/CommonDataSubscriberOdom.cpp
+9 -11
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@@ -67,29 +67,27 @@ void CommonDataSubscriber::setupOdomCallbacks(
ros::NodeHandle & nh,
ros::NodeHandle & pnh,
bool subscribeUserData,
bool subscribeOdomInfo,
int queueSize,
bool approxSync)
bool subscribeOdomInfo)
{
ROS_INFO("Setup scan callback");
if(subscribeUserData || subscribeOdomInfo)
{
odomSub_.subscribe(nh, "odom", queueSize);
odomSub_.subscribe(nh, "odom", topicQueueSize_);
#ifdef RTABMAP_SYNC_USER_DATA
if(subscribeUserData)
{
userDataSub_.subscribe(nh, "user_data", queueSize);
userDataSub_.subscribe(nh, "user_data", topicQueueSize_);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL3(CommonDataSubscriber, odomDataInfo, approxSync, queueSize, odomSub_, userDataSub_, odomInfoSub_);
odomInfoSub_.subscribe(nh, "odom_info", topicQueueSize_);
SYNC_DECL3(CommonDataSubscriber, odomDataInfo, approxSync_, syncQueueSize_, odomSub_, userDataSub_, odomInfoSub_);
}
else
{
SYNC_DECL2(CommonDataSubscriber, odomData, approxSync, queueSize, odomSub_, userDataSub_);
SYNC_DECL2(CommonDataSubscriber, odomData, approxSync_, syncQueueSize_, odomSub_, userDataSub_);
}
}
else
@@ -97,13 +95,13 @@ void CommonDataSubscriber::setupOdomCallbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL2(CommonDataSubscriber, odomInfo, approxSync, queueSize, odomSub_, odomInfoSub_);
odomInfoSub_.subscribe(nh, "odom_info", topicQueueSize_);
SYNC_DECL2(CommonDataSubscriber, odomInfo, approxSync_, syncQueueSize_, odomSub_, odomInfoSub_);
}
}
else
{
odomSubOnly_ = nh.subscribe("odom", queueSize, &CommonDataSubscriber::odomCallback, this);
odomSubOnly_ = nh.subscribe("odom", syncQueueSize_, &CommonDataSubscriber::odomCallback, this);
subscribedTopicsMsg_ =
uFormat("\n%s subscribed to:\n %s",
ros::this_node::getName().c_str(),