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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/rgbd_sync.cpp
+10 -5
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@@ -53,8 +53,11 @@ RGBDSync::RGBDSync(const rclcpp::NodeOptions & options) :
{
int queueSize = 10;
bool approxSync = true;
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);
depthScale_ = this->declare_parameter("depth_scale", depthScale_);
decimation_ = this->declare_parameter("decimation", decimation_);
compressedRate_ = this->declare_parameter("compressed_rate", compressedRate_);
@@ -66,12 +69,14 @@ RGBDSync::RGBDSync(const rclcpp::NodeOptions & options) :
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: qos = %d", get_name(), qos);
RCLCPP_INFO(this->get_logger(), "%s: qos_camera_info = %d", get_name(), qosCamInfo);
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);
rgbdImageCompressedPub_ = this->create_publisher<rtabmap_ros::msg::RGBDImage>("rgbd_image/compressed", 1);
rgbdImagePub_ = this->create_publisher<rtabmap_ros::msg::RGBDImage>("rgbd_image", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos));
rgbdImageCompressedPub_ = this->create_publisher<rtabmap_ros::msg::RGBDImage>("rgbd_image/compressed", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos));
if(approxSync)
{
@@ -85,9 +90,9 @@ RGBDSync::RGBDSync(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());
subscribedTopicsMsg_ = uFormat("\n%s subscribed to (%s sync):\n %s,\n %s,\n %s",
get_name(),