i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-09-16 08:10:19 +08:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files
rtabmap_viz/src/GuiWrapper.cpp
+8 -8
View File
@@ -162,27 +162,27 @@ GuiWrapper::GuiWrapper(int & argc, char** argv) :
if(subscribeInfoOnly)
{
ROS_INFO("subscribe_info_only=true");
infoOnlyTopic_ = nh.subscribe("info", 1, &GuiWrapper::infoCallback, this);
infoOnlyTopic_ = nh.subscribe("info", this->getTopicQueueSize(), &GuiWrapper::infoCallback, this);
}
else
{
infoTopic_.subscribe(nh, "info", 1);
mapDataTopic_.subscribe(nh, "mapData", 1);
infoTopic_.subscribe(nh, "info", this->getTopicQueueSize());
mapDataTopic_.subscribe(nh, "mapData", this->getTopicQueueSize());
infoMapSync_ = new message_filters::Synchronizer<MyInfoMapSyncPolicy>(
MyInfoMapSyncPolicy(this->getQueueSize()),
MyInfoMapSyncPolicy(this->getSyncQueueSize()),
infoTopic_,
mapDataTopic_);
infoMapSync_->registerCallback(boost::bind(&GuiWrapper::infoMapCallback, this, boost::placeholders::_1, boost::placeholders::_2));
}
goalTopic_.subscribe(nh, "goal_node", 1);
pathTopic_.subscribe(nh, "global_path", 1);
goalTopic_.subscribe(nh, "goal_node", this->getTopicQueueSize());
pathTopic_.subscribe(nh, "global_path", this->getTopicQueueSize());
goalPathSync_ = new message_filters::Synchronizer<MyGoalPathSyncPolicy>(
MyGoalPathSyncPolicy(this->getQueueSize()),
MyGoalPathSyncPolicy(this->getSyncQueueSize()),
goalTopic_,
pathTopic_);
goalPathSync_->registerCallback(boost::bind(&GuiWrapper::goalPathCallback, this, boost::placeholders::_1, boost::placeholders::_2));
goalReachedTopic_ = nh.subscribe("goal_reached", 1, &GuiWrapper::goalReachedCallback, this);
goalReachedTopic_ = nh.subscribe("goal_reached", this->getTopicQueueSize(), &GuiWrapper::goalReachedCallback, this);
setupCallbacks(nh, pnh, ros::this_node::getName()); // do it at the end
}