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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/src/nodelets/rgbd_split.cpp
+8 -4
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@@ -46,8 +46,10 @@ RGBDSplit::RGBDSplit(const rclcpp::NodeOptions & options) :
rgbdImageSub_ = create_subscription<rtabmap_msgs::msg::RGBDImage>("rgbd_image", rclcpp::QoS(5).reliability((rmw_qos_reliability_policy_t)qos), std::bind(&RGBDSplit::callback, this, std::placeholders::_1));
rgbPub_ = image_transport::create_camera_publisher(this, std::string(rgbdImageSub_->get_topic_name()) + "/rgb", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
depthPub_ = image_transport::create_camera_publisher(this, std::string(rgbdImageSub_->get_topic_name()) + "/depth", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
rgbPub_ = image_transport::create_publisher(this, std::string(rgbdImageSub_->get_topic_name()) + "/rgb/image", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
depthPub_ = image_transport::create_publisher(this, std::string(rgbdImageSub_->get_topic_name()) + "/depth/image", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
rgbInfoPub_ = this->create_publisher<sensor_msgs::msg::CameraInfo>(std::string(rgbdImageSub_->get_topic_name()) + "/rgb/camera_info", 1);
depthInfoPub_ = this->create_publisher<sensor_msgs::msg::CameraInfo>(std::string(rgbdImageSub_->get_topic_name()) + "/depth/camera_info", 1);
}
@@ -73,7 +75,8 @@ void RGBDSplit::callback(const rtabmap_msgs::msg::RGBDImage::SharedPtr input) co
cv_bridge::toCvCopy(input->rgb_compressed)->toImageMsg(outputImage);
#endif
}
rgbPub_.publish(outputImage, outputCameraInfo);
rgbPub_.publish(outputImage);
rgbInfoPub_->publish(outputCameraInfo);
}
if(depthPub_.getNumSubscribers())
@@ -96,7 +99,8 @@ void RGBDSplit::callback(const rtabmap_msgs::msg::RGBDImage::SharedPtr input) co
#endif
}
outputImage.header = outputCameraInfo.header = input->header;
depthPub_.publish(outputImage, outputCameraInfo);
depthPub_.publish(outputImage);
depthInfoPub_->publish(outputCameraInfo);
}
}