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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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src/nodelets/rgbd_sync.cpp
+73 -28
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@@ -34,6 +34,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <opencv2/highgui/highgui.hpp>
#include "rtabmap/core/Compression.h"
#include "rtabmap/core/util2d.h"
#include "rtabmap/utilite/UConversion.h"
#include "rtabmap_ros/MsgConversion.h"
@@ -43,7 +44,9 @@ namespace rtabmap_ros
RGBDSync::RGBDSync(const rclcpp::NodeOptions & options) :
Node("rgbd_sync", options),
depthScale_(1.0),
decimation_(1),
compressedRate_(0),
warningThread_(0),
callbackCalled_(false),
approxSyncDepth_(0),
exactSyncDepth_(0)
@@ -53,11 +56,18 @@ RGBDSync::RGBDSync(const rclcpp::NodeOptions & options) :
approxSync = this->declare_parameter("approx_sync", approxSync);
queueSize = this->declare_parameter("queue_size", queueSize);
depthScale_ = this->declare_parameter("depth_scale", depthScale_);
decimation_ = this->declare_parameter("decimation", decimation_);
compressedRate_ = this->declare_parameter("compressed_rate", compressedRate_);
if(decimation_<1)
{
decimation_ = 1;
}
RCLCPP_INFO(this->get_logger(), "%s: approx_sync = %s", get_name(), approxSync?"true":"false");
RCLCPP_INFO(this->get_logger(), "%s: queue_size = %d", get_name(), queueSize);
RCLCPP_INFO(this->get_logger(), "%s: depth_scale = %f", get_name(), depthScale_);
RCLCPP_INFO(this->get_logger(), "%s: decimation = %d", get_name(), decimation_);
RCLCPP_INFO(this->get_logger(), "%s: compressed_rate = %f", get_name(), compressedRate_);
rgbdImagePub_ = this->create_publisher<rtabmap_ros::msg::RGBDImage>("rgbd_image", 1);
@@ -75,9 +85,9 @@ RGBDSync::RGBDSync(const rclcpp::NodeOptions & options) :
}
image_transport::TransportHints hints(this);
imageSub_.subscribe(this, "rgb/image", hints.getTransport(), rmw_qos_profile_sensor_data);
imageDepthSub_.subscribe(this, "depth/image", hints.getTransport(), rmw_qos_profile_sensor_data);
cameraInfoSub_.subscribe(this, "rgb/camera_info", rmw_qos_profile_sensor_data);
imageSub_.subscribe(this, "rgb/image", hints.getTransport());
imageDepthSub_.subscribe(this, "depth/image", hints.getTransport());
cameraInfoSub_.subscribe(this, "rgb/camera_info");
subscribedTopicsMsg_ = uFormat("\n%s subscribed to (%s sync):\n %s,\n %s,\n %s",
get_name(),
@@ -131,8 +141,44 @@ void RGBDSync::callback(
rtabmap_ros::msg::RGBDImage::UniquePtr msg(new rtabmap_ros::msg::RGBDImage);
msg->header.frame_id = cameraInfo->header.frame_id;
msg->header.stamp = rgbStamp>depthStamp?image->header.stamp:depth->header.stamp;
msg->rgb_camera_info = *cameraInfo;
msg->depth_camera_info = *cameraInfo;
if(decimation_>1 && !(depth->width % decimation_ == 0 && depth->height % decimation_ == 0))
{
RCLCPP_WARN(this->get_logger(), "Decimation of depth images should be exact (decimation=%d, size=(%d,%d))! "
"Images won't be resized.", decimation_, depth->width, depth->height);
decimation_ = 1;
}
if(decimation_>1)
{
rtabmap::CameraModel model = rtabmap_ros::cameraModelFromROS(*cameraInfo);
sensor_msgs::msg::CameraInfo info;
rtabmap_ros::cameraModelToROS(model.scaled(1.0f/float(decimation_)), info);
info.header = cameraInfo->header;
msg->rgb_camera_info = info;
msg->depth_camera_info = info;
}
else
{
msg->rgb_camera_info = *cameraInfo;
msg->depth_camera_info = *cameraInfo;
}
cv::Mat rgbMat;
cv::Mat depthMat;
cv_bridge::CvImageConstPtr imagePtr = cv_bridge::toCvShare(image);
cv_bridge::CvImageConstPtr imageDepthPtr = cv_bridge::toCvShare(depth);
rgbMat = imagePtr->image;
depthMat = imageDepthPtr->image;
if(decimation_>1)
{
rgbMat = rtabmap::util2d::decimate(rgbMat, decimation_);
depthMat = rtabmap::util2d::decimate(depthMat, decimation_);
}
if(depthScale_ != 1.0)
{
depthMat*=depthScale_;
}
if(rgbdImageCompressedPub_->get_subscription_count())
{
@@ -151,21 +197,19 @@ void RGBDSync::callback(
lastCompressedPublished_ = now();
rtabmap_ros::msg::RGBDImage::UniquePtr msgCompressed(new rtabmap_ros::msg::RGBDImage);
*msgCompressed = *msg;
msgCompressed->header = msg->header;
msgCompressed->rgb_camera_info = msg->rgb_camera_info;
msgCompressed->depth_camera_info = msg->depth_camera_info;
cv_bridge::CvImageConstPtr imagePtr = cv_bridge::toCvShare(image);
imagePtr->toCompressedImageMsg(msgCompressed->rgb_compressed, cv_bridge::JPG);
cv_bridge::CvImage cvImg;
cvImg.header = image->header;
cvImg.image = rgbMat;
cvImg.encoding = image->encoding;
cvImg.toCompressedImageMsg(msgCompressed->rgb_compressed, cv_bridge::JPG);
cv_bridge::CvImageConstPtr imageDepthPtr = cv_bridge::toCvShare(depth);
msgCompressed->depth_compressed.header = imageDepthPtr->header;
if(depthScale_ != 1.0)
{
msgCompressed->depth_compressed.data = rtabmap::compressImage(imageDepthPtr->image*depthScale_, ".png");
}
else
{
msgCompressed->depth_compressed.data = rtabmap::compressImage(imageDepthPtr->image, ".png");
}
msgCompressed->depth_compressed.data = rtabmap::compressImage(depthMat, ".png");
msgCompressed->depth_compressed.format = "png";
rgbdImageCompressedPub_->publish(std::move(msgCompressed));
@@ -174,17 +218,18 @@ void RGBDSync::callback(
if(rgbdImagePub_->get_subscription_count())
{
msg->rgb = *image;
if(depthScale_ != 1.0)
{
cv_bridge::CvImagePtr imageDepthPtr = cv_bridge::toCvCopy(depth);
imageDepthPtr->image*=depthScale_;
msg->depth = *imageDepthPtr->toImageMsg();
}
else
{
msg->depth = *depth;
}
cv_bridge::CvImage cvImg;
cvImg.header = image->header;
cvImg.image = rgbMat;
cvImg.encoding = image->encoding;
cvImg.toImageMsg(msg->rgb);
cv_bridge::CvImage cvDepth;
cvDepth.header = depth->header;
cvDepth.image = depthMat;
cvDepth.encoding = depth->encoding;
cvDepth.toImageMsg(msg->depth);
rgbdImagePub_->publish(std::move(msg));
}