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Ported data_player node to ROS2. Fixed camera publisher namespace in rgbd_split.

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This commit is contained in:
matlabbe
2025-09-21 17:08:11 -07:00
parent 166f18c98f
commit bda8f16bb8
6 changed files with 743 additions and 611 deletions
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rtabmap_util/CMakeLists.txt
+7 -5
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@@ -76,6 +76,7 @@ SET(rtabmap_util_plugins_lib_src
src/nodelets/point_cloud_aggregator.cpp
src/nodelets/point_cloud_assembler.cpp
src/nodelets/imu_to_tf.cpp
src/nodelets/db_player.cpp
src/nodelets/lidar_deskewing.cpp
src/nodelets/rgbd_relay.cpp
src/nodelets/rgbd_split.cpp
@@ -134,6 +135,7 @@ rclcpp_components_register_nodes(rtabmap_util_plugins "rtabmap_util::RGBDRelay")
rclcpp_components_register_nodes(rtabmap_util_plugins "rtabmap_util::RGBDSplit")
rclcpp_components_register_nodes(rtabmap_util_plugins "rtabmap_util::DisparityToDepth")
rclcpp_components_register_nodes(rtabmap_util_plugins "rtabmap_util::ImuToTF")
rclcpp_components_register_nodes(rtabmap_util_plugins "rtabmap_util::DbPlayer")
rclcpp_components_register_nodes(rtabmap_util_plugins "rtabmap_util::LidarDeskewing")
rclcpp_components_register_nodes(rtabmap_util_plugins "rtabmap_util::PointCloudXYZ")
rclcpp_components_register_nodes(rtabmap_util_plugins "rtabmap_util::PointCloudXYZRGB")
@@ -188,10 +190,10 @@ ament_target_dependencies(rtabmap_point_cloud_xyzrgb ${Libraries})
target_link_libraries(rtabmap_point_cloud_xyzrgb rtabmap_util_plugins)
set_target_properties(rtabmap_point_cloud_xyzrgb PROPERTIES OUTPUT_NAME "point_cloud_xyzrgb")
#add_executable(rtabmap_data_player src/DbPlayerNode.cpp)
#ament_target_dependencies(rtabmap_data_player ${Libraries})
#target_link_libraries(rtabmap_data_player rtabmap_util_plugins)
#set_target_properties(rtabmap_data_player PROPERTIES OUTPUT_NAME "data_player")
add_executable(rtabmap_data_player src/DbPlayerNode.cpp)
ament_target_dependencies(rtabmap_data_player ${Libraries})
target_link_libraries(rtabmap_data_player rtabmap_util_plugins)
set_target_properties(rtabmap_data_player PROPERTIES OUTPUT_NAME "data_player")
#add_executable(rtabmap_odom_msg_to_tf src/OdomMsgToTFNode.cpp)
#ament_target_dependencies(rtabmap_odom_msg_to_tf ${Libraries})
@@ -250,7 +252,7 @@ install(TARGETS
)
install(TARGETS
# rtabmap_map_optimizer
# rtabmap_data_player
rtabmap_data_player
# rtabmap_odom_msg_to_tf
rtabmap_imu_to_tf
rtabmap_disparity_to_depth