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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/nodelets/point_cloud_xyzrgb.cpp
+13 -10
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@@ -68,8 +68,11 @@ PointCloudXYZRGB::PointCloudXYZRGB(const rclcpp::NodeOptions & options) :
bool approxSync = true;
std::string roiStr;
int queueSize = 10;
int qos = 0;
approxSync = this->declare_parameter("approx_sync", approxSync);
queueSize = this->declare_parameter("queue_size", queueSize);
qos = this->declare_parameter("qos", qos);
int qosCamInfo = this->declare_parameter("qos_camera_info", qos);
maxDepth_ = this->declare_parameter("max_depth", maxDepth_);
minDepth_ = this->declare_parameter("min_depth", minDepth_);
voxelSize_ = this->declare_parameter("voxel_size", voxelSize_);
@@ -128,9 +131,9 @@ PointCloudXYZRGB::PointCloudXYZRGB(const rclcpp::NodeOptions & options) :
RCLCPP_INFO(this->get_logger(), "Approximate time sync = %s", approxSync?"true":"false");
cloudPub_ = create_publisher<sensor_msgs::msg::PointCloud2>("cloud", 1);
cloudPub_ = create_publisher<sensor_msgs::msg::PointCloud2>("cloud", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos));
rgbdImageSub_ = create_subscription<rtabmap_ros::msg::RGBDImage>("rgbd_image", 5, std::bind(&PointCloudXYZRGB::rgbdImageCallback, this, std::placeholders::_1));
rgbdImageSub_ = create_subscription<rtabmap_ros::msg::RGBDImage>("rgbd_image", rclcpp::QoS(queueSize).reliability((rmw_qos_reliability_policy_t)qos), std::bind(&PointCloudXYZRGB::rgbdImageCallback, this, std::placeholders::_1));
if(approxSync)
{
@@ -157,16 +160,16 @@ PointCloudXYZRGB::PointCloudXYZRGB(const rclcpp::NodeOptions & options) :
}
image_transport::TransportHints hints(this);
imageSub_.subscribe(this, "rgb/image", hints.getTransport());
imageDepthSub_.subscribe(this, "depth/image", hints.getTransport());
cameraInfoSub_.subscribe(this, "rgb/camera_info");
imageSub_.subscribe(this, "rgb/image", hints.getTransport(), rclcpp::QoS(queueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
imageDepthSub_.subscribe(this, "depth/image", hints.getTransport(), rclcpp::QoS(queueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
cameraInfoSub_.subscribe(this, "rgb/camera_info", rclcpp::QoS(queueSize).reliability((rmw_qos_reliability_policy_t)qosCamInfo).get_rmw_qos_profile());
imageDisparitySub_.subscribe(this, "disparity");
imageDisparitySub_.subscribe(this, "disparity", rclcpp::QoS(queueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
imageLeft_.subscribe(this, "left/image", hints.getTransport());
imageRight_.subscribe(this, "right/image", hints.getTransport());
cameraInfoLeft_.subscribe(this, "left/camera_info");
cameraInfoRight_.subscribe(this, "right/camera_info");
imageLeft_.subscribe(this, "left/image", hints.getTransport(), rclcpp::QoS(queueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
imageRight_.subscribe(this, "right/image", hints.getTransport(), rclcpp::QoS(queueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
cameraInfoLeft_.subscribe(this, "left/camera_info", rclcpp::QoS(queueSize).reliability((rmw_qos_reliability_policy_t)qosCamInfo).get_rmw_qos_profile());
cameraInfoRight_.subscribe(this, "right/camera_info", rclcpp::QoS(queueSize).reliability((rmw_qos_reliability_policy_t)qosCamInfo).get_rmw_qos_profile());
}
PointCloudXYZRGB::~PointCloudXYZRGB()