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Fixed tf2_eigen missing from package.xml. Added "qos" parameter for all nodes subscribing to sensor data (#651).

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This commit is contained in:
matlabbe
2021-11-08 18:36:19 -05:00
parent c94d3a6a92
commit b606a54f45
38 changed files with 472 additions and 329 deletions
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src/CommonDataSubscriber.cpp
+18 -2
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@@ -374,6 +374,17 @@ CommonDataSubscriber::CommonDataSubscriber(rclcpp::Node & node, bool gui) :
odomFrameId_ = node.declare_parameter("odom_frame_id", odomFrameId_);
rgbdCameras_ = node.declare_parameter("rgbd_cameras", rgbdCameras_);
queueSize_ = node.declare_parameter("queue_size", queueSize_);
int qosOdom = node.declare_parameter("qos_odom", 0);
int qosImage = node.declare_parameter("qos_image", 0);
int qosCameraInfo = node.declare_parameter("qos_camera_info", qosImage);
int qosScan = node.declare_parameter("qos_scan", 0);
int qosUserData = node.declare_parameter("qos_user_data", 0);
qosOdom_ = (rmw_qos_reliability_policy_t)qosOdom;
qosImage_ = (rmw_qos_reliability_policy_t)qosImage;
qosCameraInfo_ = (rmw_qos_reliability_policy_t)qosCameraInfo;
qosScan_ = (rmw_qos_reliability_policy_t)qosScan;
qosUserData_ = (rmw_qos_reliability_policy_t)qosUserData;
}
void CommonDataSubscriber::setupCallbacks(rclcpp::Node & node)
@@ -452,8 +463,13 @@ void CommonDataSubscriber::setupCallbacks(rclcpp::Node & node)
RCLCPP_INFO(node.get_logger(), "%s: subscribe_scan = %s", name_.c_str(), subscribedToScan2d_?"true":"false");
RCLCPP_INFO(node.get_logger(), "%s: subscribe_scan_cloud = %s", name_.c_str(), subscribedToScan3d_?"true":"false");
RCLCPP_INFO(node.get_logger(), "%s: subscribe_scan_descriptor = %s", name_.c_str(), subscribedToScanDescriptor_?"true":"false");
RCLCPP_INFO(node.get_logger(), "%s: queue_size = %d", name_.c_str(), queueSize_);
RCLCPP_INFO(node.get_logger(), "%s: approx_sync = %s", name_.c_str(), approxSync_?"true":"false");
RCLCPP_INFO(node.get_logger(), "%s: queue_size = %d", name_.c_str(), queueSize_);
RCLCPP_INFO(node.get_logger(), "%s: qos_image = %d", name_.c_str(), qosImage_);
RCLCPP_INFO(node.get_logger(), "%s: qos_camera_info = %d", name_.c_str(), qosCameraInfo_);
RCLCPP_INFO(node.get_logger(), "%s: qos_scan = %d", name_.c_str(), qosScan_);
RCLCPP_INFO(node.get_logger(), "%s: qos_odom = %d", name_.c_str(), qosOdom_);
RCLCPP_INFO(node.get_logger(), "%s: qos_user_data = %d", name_.c_str(), qosUserData_);
RCLCPP_INFO(node.get_logger(), "%s: approx_sync = %s", name_.c_str(), approxSync_?"true":"false");
subscribedToOdom_ = odomFrameId_.empty() && subscribedToOdom_;
if(subscribedToDepth_)