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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/rgbdx_sync.cpp
+5 -2
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@@ -47,15 +47,18 @@ RGBDXSync::RGBDXSync(const rclcpp::NodeOptions & options) :
int queueSize = 10;
bool approxSync = true;
int rgbdCameras = 2;
int qos = 0;
approxSync = this->declare_parameter("approx_sync", approxSync);
queueSize = this->declare_parameter("queue_size", queueSize);
qos = this->declare_parameter("qos", qos);
rgbdCameras = this->declare_parameter("rgbd_cameras", rgbdCameras);
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: rgbd_cameras = %d", get_name(), rgbdCameras);
rgbdImagesPub_ = this->create_publisher<rtabmap_ros::msg::RGBDImages>("rgbd_images", 1);
rgbdImagesPub_ = this->create_publisher<rtabmap_ros::msg::RGBDImages>("rgbd_images", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos));
UASSERT(rgbdCameras>=2 && rgbdCameras<=8);
@@ -63,7 +66,7 @@ RGBDXSync::RGBDXSync(const rclcpp::NodeOptions & options) :
for(int i=0; i<rgbdCameras; ++i)
{
rgbdSubs_[i] = new message_filters::Subscriber<rtabmap_ros::msg::RGBDImage>;
rgbdSubs_[i]->subscribe(this, uFormat("rgbd_image%d", i));
rgbdSubs_[i]->subscribe(this, uFormat("rgbd_image%d", i), rclcpp::QoS(queueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
}
std::string name_ = get_name();