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Merged master to ros2. ros2: Uniformized qos of all subscribers and publishers.

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This commit is contained in:
matlabbe
2021-10-04 19:29:19 -04:00
parent ccf152d877 1ecce15878
commit af1c7edeef
121 changed files with 10854 additions and 3478 deletions
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CMakeLists.txt
+119 -24
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@@ -49,12 +49,13 @@ find_package(image_geometry REQUIRED)
# Optional components
#find_package(costmap_2d)
#find_package(octomap_msgs)
#find_package(apriltag_ros)
find_package(octomap_msgs)
#find_package(apriltag_msgs)
#find_package(find_object_2d)
find_package(move_base_msgs)
## System dependencies are found with CMake's conventions
find_package(RTABMap 0.20.5 REQUIRED)
find_package(RTABMap 0.20.14 REQUIRED)
find_package(Boost REQUIRED COMPONENTS system) # dependencies from PCL
find_package(PCL 1.7 REQUIRED COMPONENTS kdtree) #This crashes idl generation if all components are found?! see https://github.com/ros2/rosidl/issues/402#issuecomment-565586908
@@ -63,6 +64,34 @@ find_package(rviz_common)
find_package(rviz_rendering)
find_package(rviz_default_plugins)
IF(WIN32)
add_compile_options(-bigobj)
ENDIF(WIN32)
# kinetic issue, rtabmap now requires at least c++11
if("$ENV{ROS_DISTRO}" STREQUAL "kinetic")
include(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-std=c++14" COMPILER_SUPPORTS_CXX14)
CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
IF(COMPILER_SUPPORTS_CXX14)
set(CMAKE_CXX_STANDARD 14)
ELSEIF(COMPILER_SUPPORTS_CXX11)
set(CMAKE_CXX_STANDARD 11)
ENDIF()
endif()
option(RTABMAP_SYNC_MULTI_RGBD "Build with multi RGBD camera synchronization support" OFF)
option(RTABMAP_SYNC_USER_DATA "Build with input user data support" OFF)
MESSAGE(STATUS "RTABMAP_SYNC_MULTI_RGBD = ${RTABMAP_SYNC_MULTI_RGBD}")
MESSAGE(STATUS "RTABMAP_SYNC_USER_DATA = ${RTABMAP_SYNC_USER_DATA}")
IF(RTABMAP_SYNC_MULTI_RGBD)
add_definitions("-DRTABMAP_SYNC_MULTI_RGBD")
ENDIF(RTABMAP_SYNC_MULTI_RGBD)
IF(RTABMAP_SYNC_USER_DATA)
add_definitions("-DRTABMAP_SYNC_USER_DATA")
ENDIF(RTABMAP_SYNC_USER_DATA)
#Qt stuff
# If librtabmap_gui.so is found, rtabmapviz will be built
# If rviz is found, plugins will be built
@@ -92,6 +121,8 @@ ENDIF(RTABMAP_GUI OR rviz_default_plugins_FOUND)
set(msg_files
"msg/Info.msg"
"msg/KeyPoint.msg"
"msg/GlobalDescriptor.msg"
"msg/ScanDescriptor.msg"
"msg/MapData.msg"
"msg/MapGraph.msg"
"msg/NodeData.msg"
@@ -101,20 +132,30 @@ ENDIF(RTABMAP_GUI OR rviz_default_plugins_FOUND)
"msg/Point3f.msg"
"msg/Goal.msg"
"msg/RGBDImage.msg"
"msg/RGBDImages.msg"
"msg/UserData.msg"
"msg/GPS.msg"
"msg/Path.msg"
"msg/EnvSensor.msg"
)
# declare the service files to generate code for
set(srv_files
"srv/GetMap.srv"
"srv/GetMap2.srv"
"srv/ListLabels.srv"
"srv/PublishMap.srv"
"srv/ResetPose.srv"
"srv/SetGoal.srv"
"srv/SetLabel.srv"
"srv/GetPlan.srv"
"srv/AddLink.srv"
"srv/GetNodeData.srv"
"srv/GetNodesInRadius.srv"
"srv/LoadDatabase.srv"
"srv/DetectMoreLoopClosures.srv"
"srv/GlobalBundleAdjustment.srv"
"srv/CleanupLocalGrids.srv"
)
## Generate messages and services
@@ -186,6 +227,7 @@ SET(Libraries
visualization_msgs
image_geometry
stereo_msgs
move_base_msgs
)
SET(rtabmap_sync_lib_src
@@ -194,13 +236,21 @@ SET(rtabmap_sync_lib_src
src/impl/CommonDataSubscriberStereo.cpp
src/impl/CommonDataSubscriberRGB.cpp
src/impl/CommonDataSubscriberRGBD.cpp
src/impl/CommonDataSubscriberRGBD2.cpp
src/impl/CommonDataSubscriberRGBD3.cpp
src/impl/CommonDataSubscriberRGBD4.cpp
src/impl/CommonDataSubscriberRGBDX.cpp
src/impl/CommonDataSubscriberScan.cpp
src/impl/CommonDataSubscriberOdom.cpp
src/CoreWrapper.cpp # we put CoreWrapper here instead of plugins lib to avoid long compilation time on plugins lib
)
IF(RTABMAP_SYNC_MULTI_RGBD)
SET(rtabmap_sync_lib_src
${rtabmap_sync_lib_src}
src/impl/CommonDataSubscriberRGBD2.cpp
src/impl/CommonDataSubscriberRGBD3.cpp
src/impl/CommonDataSubscriberRGBD4.cpp
src/impl/CommonDataSubscriberRGBD5.cpp
src/impl/CommonDataSubscriberRGBD6.cpp
)
ENDIF(RTABMAP_SYNC_MULTI_RGBD)
SET(rtabmap_ros_lib_src
src/MsgConversion.cpp
@@ -227,36 +277,51 @@ SET(rtabmap_plugins_lib_src
src/nodelets/point_cloud_assembler.cpp
# src/nodelets/undistort_depth.cpp
# src/nodelets/imu_to_tf.cpp
src/nodelets/rgbdx_sync.cpp
src/nodelets/rgbd_sync.cpp
src/nodelets/stereo_sync.cpp
src/nodelets/rgb_sync.cpp
src/nodelets/rgbd_relay.cpp
)
# If octomap is found, add definition
#IF(octomap_msgs_FOUND)
#MESSAGE(STATUS "WITH octomap_msgs")
#include_directories(
# ${octomap_msgs_INCLUDE_DIRS}
#)
#SET(Libraries
# octomap_msgs
# ${Libraries}
#)
#ADD_DEFINITIONS("-DWITH_OCTOMAP_MSGS")
#ENDIF(octomap_msgs_FOUND)
IF(octomap_msgs_FOUND)
MESSAGE(STATUS "WITH octomap_msgs")
include_directories(
${octomap_msgs_INCLUDE_DIRS}
)
SET(Libraries
octomap_msgs
${Libraries}
)
ADD_DEFINITIONS("-DWITH_OCTOMAP_MSGS")
ENDIF(octomap_msgs_FOUND)
# If apriltag_ros is found, add definition
#IF(apriltag_ros_FOUND)
#MESSAGE(STATUS "WITH apriltag_ros")
# If apriltag_msgs is found, add definition
#IF(apriltag_msgs_FOUND)
#MESSAGE(STATUS "WITH apriltag_msgs")
#include_directories(
# ${apriltag_ros_INCLUDE_DIRS}
# ${apriltag_msgs_INCLUDE_DIRS}
#)
#SET(Libraries
# apriltag_ros
# apriltag_msgs
# ${Libraries}
#)
#ADD_DEFINITIONS("-DWITH_APRILTAG_ROS")
#ENDIF(apriltag_ros_FOUND)
#ADD_DEFINITIONS("-DWITH_APRILTAG_MSGS")
#ENDIF(apriltag_msgs_FOUND)
# If move_base_msgs is found, add definition
IF(octomap_msgs_FOUND)
MESSAGE(STATUS "WITH move_base_msgs")
include_directories(
${move_base_msgs_INCLUDE_DIRS}
)
SET(Libraries
move_base_msgs
${Libraries}
)
ADD_DEFINITIONS("-DWITH_MOVE_BASE_MSGS")
ENDIF(move_base_msgs_FOUND)
############################
## Declare a cpp library
@@ -320,11 +385,21 @@ ament_target_dependencies(rtabmap_rgbd_sync ${Libraries})
target_link_libraries(rtabmap_rgbd_sync rtabmap_plugins ${RTABMap_LIBRARIES})
set_target_properties(rtabmap_rgbd_sync PROPERTIES OUTPUT_NAME "rgbd_sync")
add_executable(rtabmap_rgbdx_sync src/RGBDXSyncNode.cpp)
ament_target_dependencies(rtabmap_rgbdx_sync ${Libraries})
target_link_libraries(rtabmap_rgbdx_sync rtabmap_plugins ${RTABMap_LIBRARIES})
set_target_properties(rtabmap_rgbdx_sync PROPERTIES OUTPUT_NAME "rgbdx_sync")
add_executable(rtabmap_stereo_sync src/StereoSyncNode.cpp)
ament_target_dependencies(rtabmap_stereo_sync ${Libraries})
target_link_libraries(rtabmap_stereo_sync rtabmap_plugins ${RTABMap_LIBRARIES})
set_target_properties(rtabmap_stereo_sync PROPERTIES OUTPUT_NAME "stereo_sync")
add_executable(rtabmap_rgb_sync src/RGBSyncNode.cpp)
ament_target_dependencies(rtabmap_rgb_sync ${Libraries})
target_link_libraries(rtabmap_rgb_sync rtabmap_plugins ${RTABMap_LIBRARIES})
set_target_properties(rtabmap_rgb_sync PROPERTIES OUTPUT_NAME "rgb_sync")
add_executable(rtabmap_rgbd_relay src/RGBDRelayNode.cpp)
ament_target_dependencies(rtabmap_rgbd_relay ${Libraries})
target_link_libraries(rtabmap_rgbd_relay rtabmap_plugins ${RTABMap_LIBRARIES})
@@ -383,6 +458,11 @@ set_target_properties(rtabmap_point_cloud_assembler PROPERTIES OUTPUT_NAME "poin
# set_target_properties(rtabmap_save_objects_example PROPERTIES OUTPUT_NAME "save_objects_example")
#ENDIF(find_object_2d_FOUND)
#add_executable(rtabmap_external_loop_detectionexample src/ExternalLoopDetectionExample.cpp)
#add_dependencies(rtabmap_external_loop_detectionexample ${${PROJECT_NAME}_EXPORTED_TARGETS})
#ament_target_dependencies(rtabmap_external_loop_detectionexample ${Libraries} rtabmap_ros)
#set_target_properties(rtabmap_external_loop_detectionexample PROPERTIES OUTPUT_NAME "external_loop_detection_example")
#add_executable(rtabmap_camera src/CameraNode.cpp)
#add_dependencies(rtabmap_camera ${${PROJECT_NAME}_EXPORTED_TARGETS})
#ament_target_dependencies(rtabmap_camera ${Libraries})
@@ -438,6 +518,12 @@ foreach(typesupport_impl ${typesupport_impls})
rosidl_target_interfaces(rtabmap_rgbd_sync
${PROJECT_NAME}_msgs ${typesupport_impl}
)
rosidl_target_interfaces(rtabmap_rgbdx_sync
${PROJECT_NAME}_msgs ${typesupport_impl}
)
rosidl_target_interfaces(rtabmap_rgb_sync
${PROJECT_NAME}_msgs ${typesupport_impl}
)
rosidl_target_interfaces(rtabmap_stereo_sync
${PROJECT_NAME}_msgs ${typesupport_impl}
)
@@ -546,6 +632,9 @@ ENDIF(rviz_default_plugins_FOUND)
# ament_target_dependencies(rtabmap_costmap_plugins2
# ${costmap_2d_LIBRARIES}
# )
# add_executable(rtabmap_costmap_voxel_markers src/costmap_2d/voxel_markers.cpp)
# ament_target_dependencies(rtabmap_costmap_voxel_markers ${costmap_2d_LIBRARIES})
# set_target_properties(rtabmap_costmap_voxel_markers PROPERTIES OUTPUT_NAME "voxel_markers")
#ENDIF(costmap_2d_FOUND)
#############
@@ -563,6 +652,8 @@ ENDIF(rviz_default_plugins_FOUND)
# scripts/point_to_tf.py
# scripts/transform_to_tf.py
# scripts/yaml_to_camera_info.py
# scripts/netvlad_tf_ros.py
# scripts/wifi_signal_pub.py
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
#)
@@ -593,8 +684,11 @@ install(TARGETS
rtabmap_point_cloud_assembler
# rtabmap_camera
rtabmap_rgbd_sync
rtabmap_rgbdx_sync
rtabmap_stereo_sync
rtabmap_rgb_sync
rtabmap_rgbd_relay
# rtabmap_wifi_signal_sub
DESTINATION lib/${PROJECT_NAME}
)
IF(RTABMAP_GUI)
@@ -651,6 +745,7 @@ ENDIF(rviz_default_plugins_FOUND)
# install(TARGETS
# rtabmap_costmap_plugins
# rtabmap_costmap_plugins2
# rtabmap_costmap_voxel_markers
# DESTINATION lib
# )
# install(FILES