i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-07 10:17:45 +08:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files
include/rtabmap_ros/OdometryROS.h
+9 -6
View File
@@ -41,6 +41,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <sensor_msgs/msg/point_cloud2.hpp>
#include <rtabmap_ros/msg/odom_info.hpp>
#include <rtabmap_ros/msg/rgbd_image.hpp>
#include <rtabmap_ros/srv/reset_pose.hpp>
#include <rtabmap/core/SensorData.h>
#include <rtabmap/core/Parameters.h>
@@ -61,7 +62,7 @@ public:
explicit OdometryROS(const std::string & name, const rclcpp::NodeOptions & options);
virtual ~OdometryROS();
void processData(const rtabmap::SensorData & data, const rclcpp::Time & stamp);
void processData(rtabmap::SensorData & data, const std_msgs::msg::Header & header);
void resetOdom(const std::shared_ptr<rmw_request_id_t>, const std::shared_ptr<std_srvs::srv::Empty::Request>, std::shared_ptr<std_srvs::srv::Empty::Response>);
void resetToPose(const std::shared_ptr<rmw_request_id_t>, const std::shared_ptr<rtabmap_ros::srv::ResetPose::Request>, std::shared_ptr<rtabmap_ros::srv::ResetPose::Response>);
@@ -82,10 +83,10 @@ protected:
void startWarningThread(const std::string & subscribedTopicsMsg, bool approxSync);
void callbackCalled() {callbackCalled_ = true;}
virtual void flushCallbacks() {}
virtual void flushCallbacks() {};
tf2_ros::Buffer & tfBuffer() {return *tfBuffer_;}
const double & waitForTransform() const {return waitForTransform_;}
const int & queueSize() const {return queueSize_;}
virtual void postProcessData(const rtabmap::SensorData & /*data*/, const std_msgs::msg::Header & /*header*/) const {}
private:
void warningLoop(const std::string & subscribedTopicsMsg, bool approxSync);
@@ -114,14 +115,15 @@ private:
bool publishTf_;
double waitForTransform_;
bool publishNullWhenLost_;
int queueSize_;
rtabmap::ParametersMap parameters_;
rclcpp::Publisher<nav_msgs::msg::Odometry>::SharedPtr odomPub_;
rclcpp::Publisher<rtabmap_ros::msg::OdomInfo>::SharedPtr odomInfoPub_;
rclcpp::Publisher<rtabmap_ros::msg::OdomInfo>::SharedPtr odomInfoLitePub_;
rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr odomLocalMap_;
rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr odomLocalScanMap_;
rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr odomLastFrame_;
rclcpp::Publisher<rtabmap_ros::msg::RGBDImage>::SharedPtr odomRgbdImagePub_;
rclcpp::Service<std_srvs::srv::Empty>::SharedPtr resetSrv_;
rclcpp::Service<rtabmap_ros::srv::ResetPose>::SharedPtr resetToPoseSrv_;
@@ -147,11 +149,12 @@ private:
rtabmap::Transform guessPreviousPose_;
double previousStamp_;
double expectedUpdateRate_;
double maxUpdateRate_;
int odomStrategy_;
bool waitIMUToinit_;
bool imuProcessed_;
double lastImuReceivedStamp_;
rtabmap::SensorData bufferedData_;
std::map<double, rtabmap::IMU> imus_;
std::pair<rtabmap::SensorData, std_msgs::msg::Header > bufferedData_;
std::string configPath_;
rtabmap::Transform initialPose_;
};