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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/impl/CommonDataSubscriberRGBD6.cpp
+10 -10
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@@ -284,15 +284,15 @@ void CommonDataSubscriber::setupRGBD6Callbacks(
for(int i=0; i<6; ++i)
{
rgbdSubs_[i] = new message_filters::Subscriber<rtabmap_ros::msg::RGBDImage>;
rgbdSubs_[i]->subscribe(&node, uFormat("rgbd_image%d", i));
rgbdSubs_[i]->subscribe(&node, uFormat("rgbd_image%d", i), rclcpp::QoS(queueSize).reliability(qosImage_).get_rmw_qos_profile());
}
if(subscribeOdom)
{
odomSub_.subscribe(&node, "odom");
odomSub_.subscribe(&node, "odom", rclcpp::QoS(queueSize).reliability(qosOdom_).get_rmw_qos_profile());
if(subscribeScanDesc)
{
subscribedToScanDescriptor_ = true;
scanDescSub_.subscribe(&node, "scan_descriptor");
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(queueSize).reliability(qosScan_).get_rmw_qos_profile());
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -303,7 +303,7 @@ void CommonDataSubscriber::setupRGBD6Callbacks(
else if(subscribeScan2d)
{
subscribedToScan2d_ = true;
scanSub_.subscribe(&node, "scan");
scanSub_.subscribe(&node, "scan", rclcpp::QoS(queueSize).reliability(qosScan_).get_rmw_qos_profile());
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -314,7 +314,7 @@ void CommonDataSubscriber::setupRGBD6Callbacks(
else if(subscribeScan3d)
{
subscribedToScan3d_ = true;
scan3dSub_.subscribe(&node, "scan_cloud");
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(queueSize).reliability(qosScan_).get_rmw_qos_profile());
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -325,7 +325,7 @@ void CommonDataSubscriber::setupRGBD6Callbacks(
else if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(&node, "odom_info");
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(queueSize).reliability(qosOdom_).get_rmw_qos_profile());
SYNC_DECL8(CommonDataSubscriber, rgbd6OdomInfo, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), (*rgbdSubs_[5]), odomInfoSub_);
}
else
@@ -338,7 +338,7 @@ void CommonDataSubscriber::setupRGBD6Callbacks(
if(subscribeScanDesc)
{
subscribedToScanDescriptor_ = true;
scanDescSub_.subscribe(&node, "scan_descriptor");
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(queueSize).reliability(qosScan_).get_rmw_qos_profile());
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -349,7 +349,7 @@ void CommonDataSubscriber::setupRGBD6Callbacks(
else if(subscribeScan2d)
{
subscribedToScan2d_ = true;
scanSub_.subscribe(&node, "scan");
scanSub_.subscribe(&node, "scan", rclcpp::QoS(queueSize).reliability(qosScan_).get_rmw_qos_profile());
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -360,7 +360,7 @@ void CommonDataSubscriber::setupRGBD6Callbacks(
else if(subscribeScan3d)
{
subscribedToScan3d_ = true;
scan3dSub_.subscribe(&node, "scan_cloud");
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(queueSize).reliability(qosScan_).get_rmw_qos_profile());
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = false;
@@ -371,7 +371,7 @@ void CommonDataSubscriber::setupRGBD6Callbacks(
else if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(&node, "odom_info");
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(queueSize).reliability(qosOdom_).get_rmw_qos_profile());
SYNC_DECL7(CommonDataSubscriber, rgbd6Info, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), (*rgbdSubs_[5]), odomInfoSub_);
}
else