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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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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/CommonDataSubscriberRGBD5.cpp
+21 -23
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@@ -263,9 +263,7 @@ void CommonDataSubscriber::setupRGBD5Callbacks(
bool subscribeScan2d,
bool subscribeScan3d,
bool subscribeScanDesc,
bool subscribeOdomInfo,
int queueSize,
bool approxSync)
bool subscribeOdomInfo)
{
ROS_INFO("Setup rgbd5 callback");
@@ -273,53 +271,53 @@ void CommonDataSubscriber::setupRGBD5Callbacks(
for(int i=0; i<5; ++i)
{
rgbdSubs_[i] = new message_filters::Subscriber<rtabmap_msgs::RGBDImage>;
rgbdSubs_[i]->subscribe(nh, uFormat("rgbd_image%d", i), queueSize);
rgbdSubs_[i]->subscribe(nh, uFormat("rgbd_image%d", i), topicQueueSize_);
}
if(subscribeOdom)
{
odomSub_.subscribe(nh, "odom", queueSize);
odomSub_.subscribe(nh, "odom", topicQueueSize_);
if(subscribeScanDesc)
{
subscribedToScanDescriptor_ = true;
scanDescSub_.subscribe(nh, "scan_descriptor", queueSize);
scanDescSub_.subscribe(nh, "scan_descriptor", topicQueueSize_);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL7(CommonDataSubscriber, rgbd5OdomScanDesc, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), scanDescSub_);
SYNC_DECL7(CommonDataSubscriber, rgbd5OdomScanDesc, approxSync_, syncQueueSize_, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), scanDescSub_);
}
else if(subscribeScan2d)
{
subscribedToScan2d_ = true;
scanSub_.subscribe(nh, "scan", queueSize);
scanSub_.subscribe(nh, "scan", topicQueueSize_);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL7(CommonDataSubscriber, rgbd5OdomScan2d, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), scanSub_);
SYNC_DECL7(CommonDataSubscriber, rgbd5OdomScan2d, approxSync_, syncQueueSize_, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), scanSub_);
}
else if(subscribeScan3d)
{
subscribedToScan3d_ = true;
scan3dSub_.subscribe(nh, "scan_cloud", queueSize);
scan3dSub_.subscribe(nh, "scan_cloud", topicQueueSize_);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL7(CommonDataSubscriber, rgbd5OdomScan3d, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), scan3dSub_);
SYNC_DECL7(CommonDataSubscriber, rgbd5OdomScan3d, approxSync_, syncQueueSize_, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), scan3dSub_);
}
else if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL7(CommonDataSubscriber, rgbd5OdomInfo, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), odomInfoSub_);
odomInfoSub_.subscribe(nh, "odom_info", topicQueueSize_);
SYNC_DECL7(CommonDataSubscriber, rgbd5OdomInfo, approxSync_, syncQueueSize_, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), odomInfoSub_);
}
else
{
SYNC_DECL6(CommonDataSubscriber, rgbd5Odom, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]));
SYNC_DECL6(CommonDataSubscriber, rgbd5Odom, approxSync_, syncQueueSize_, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]));
}
}
else
@@ -327,45 +325,45 @@ void CommonDataSubscriber::setupRGBD5Callbacks(
if(subscribeScanDesc)
{
subscribedToScanDescriptor_ = true;
scanDescSub_.subscribe(nh, "scan_descriptor", queueSize);
scanDescSub_.subscribe(nh, "scan_descriptor", topicQueueSize_);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL6(CommonDataSubscriber, rgbd5ScanDesc, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), scanDescSub_);
SYNC_DECL6(CommonDataSubscriber, rgbd5ScanDesc, approxSync_, syncQueueSize_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), scanDescSub_);
}
else if(subscribeScan2d)
{
subscribedToScan2d_ = true;
scanSub_.subscribe(nh, "scan", queueSize);
scanSub_.subscribe(nh, "scan", topicQueueSize_);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL6(CommonDataSubscriber, rgbd5Scan2d, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), scanSub_);
SYNC_DECL6(CommonDataSubscriber, rgbd5Scan2d, approxSync_, syncQueueSize_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), scanSub_);
}
else if(subscribeScan3d)
{
subscribedToScan3d_ = true;
scan3dSub_.subscribe(nh, "scan_cloud", queueSize);
scan3dSub_.subscribe(nh, "scan_cloud", topicQueueSize_);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
ROS_WARN("subscribe_odom_info ignored...");
}
SYNC_DECL6(CommonDataSubscriber, rgbd5Scan3d, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), scan3dSub_);
SYNC_DECL6(CommonDataSubscriber, rgbd5Scan3d, approxSync_, syncQueueSize_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), scan3dSub_);
}
else if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL6(CommonDataSubscriber, rgbd5Info, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), odomInfoSub_);
odomInfoSub_.subscribe(nh, "odom_info", topicQueueSize_);
SYNC_DECL6(CommonDataSubscriber, rgbd5Info, approxSync_, syncQueueSize_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), odomInfoSub_);
}
else
{
SYNC_DECL5(CommonDataSubscriber, rgbd5, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]));
SYNC_DECL5(CommonDataSubscriber, rgbd5, approxSync_, syncQueueSize_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]));
}
}
}