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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_util/src/nodelets/point_cloud_aggregator.cpp
+20 -7
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@@ -99,11 +99,24 @@ private:
ros::NodeHandle & nh = getNodeHandle();
ros::NodeHandle & pnh = getPrivateNodeHandle();
int queueSize = 5;
int queueSize = 1;
int syncQueueSize = 5;
int count = 2;
bool approx=true;
double approxSyncMaxInterval = 0.0;
pnh.param("queue_size", queueSize, queueSize);
pnh.param("topic_queue_size", queueSize, queueSize);
if(pnh.hasParam("queue_size") && !pnh.hasParam("sync_queue_size"))
{
pnh.param("queue_size", syncQueueSize, syncQueueSize);
ROS_WARN("Parameter \"queue_size\" has been renamed "
"to \"sync_queue_size\" and will be removed "
"in future versions! The value (%d) is copied to "
"\"sync_queue_size\".", syncQueueSize);
}
else
{
pnh.param("sync_queue_size", syncQueueSize, syncQueueSize);
}
pnh.param("frame_id", frameId_, frameId_);
pnh.param("fixed_frame_id", fixedFrameId_, fixedFrameId_);
pnh.param("approx_sync", approx, approx);
@@ -112,14 +125,14 @@ private:
pnh.param("wait_for_transform_duration", waitForTransformDuration_, waitForTransformDuration_);
pnh.param("xyz_output", xyzOutput_, xyzOutput_);
cloudSub_1_.subscribe(nh, "cloud1", 1);
cloudSub_2_.subscribe(nh, "cloud2", 1);
cloudSub_1_.subscribe(nh, "cloud1", queueSize);
cloudSub_2_.subscribe(nh, "cloud2", queueSize);
std::string subscribedTopicsMsg;
if(count == 4)
{
cloudSub_3_.subscribe(nh, "cloud3", 1);
cloudSub_4_.subscribe(nh, "cloud4", 1);
cloudSub_3_.subscribe(nh, "cloud3", queueSize);
cloudSub_4_.subscribe(nh, "cloud4", queueSize);
if(approx)
{
approxSync4_ = new message_filters::Synchronizer<ApproxSync4Policy>(ApproxSync4Policy(queueSize), cloudSub_1_, cloudSub_2_, cloudSub_3_, cloudSub_4_);
@@ -143,7 +156,7 @@ private:
}
else if(count == 3)
{
cloudSub_3_.subscribe(nh, "cloud3", 1);
cloudSub_3_.subscribe(nh, "cloud3", queueSize);
if(approx)
{
approxSync3_ = new message_filters::Synchronizer<ApproxSync3Policy>(ApproxSync3Policy(queueSize), cloudSub_1_, cloudSub_2_, cloudSub_3_);