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Merge branch 'master' of github.com:introlab/rtabmap_ros into ros2

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matlabbe
2025-09-21 13:44:51 -07:00
parent 491a04b78b 7d4de30ec7
commit c19240884e
8 changed files with 75 additions and 59 deletions
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rtabmap_sync/src/nodelets/stereo_sync.cpp
+6 -6
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@@ -47,16 +47,16 @@ namespace rtabmap_sync
StereoSync::StereoSync(const rclcpp::NodeOptions & options) :
Node("stereo_sync", options),
compressedRate_(0),
approxSyncMaxInterval_(0.0),
approxSync_(0),
exactSync_(0)
{
int topicQueueSize = 10;
int syncQueueSize = 10;
bool approxSync = false;
double approxSyncMaxInterval = 0.0;
int qos = RMW_QOS_POLICY_RELIABILITY_SYSTEM_DEFAULT;
approxSync = this->declare_parameter("approx_sync", approxSync);
approxSyncMaxInterval = this->declare_parameter("approx_sync_max_interval", approxSyncMaxInterval);
approxSyncMaxInterval_ = this->declare_parameter("approx_sync_max_interval", approxSyncMaxInterval_);
topicQueueSize = this->declare_parameter("topic_queue_size", topicQueueSize);
int queueSize = this->declare_parameter("queue_size", -1);
if(queueSize != -1)
@@ -74,7 +74,7 @@ StereoSync::StereoSync(const rclcpp::NodeOptions & options) :
std::string imageTransport = this->declare_parameter("image_transport", std::string("raw"));
RCLCPP_INFO(this->get_logger(), "%s: approx_sync = %s", get_name(), approxSync?"true":"false");
RCLCPP_INFO(this->get_logger(), "%s: approx_sync_max_interval = %f", get_name(), approxSyncMaxInterval);
RCLCPP_INFO(this->get_logger(), "%s: approx_sync_max_interval = %f", get_name(), approxSyncMaxInterval_);
RCLCPP_INFO(this->get_logger(), "%s: topic_queue_size = %d", get_name(), topicQueueSize);
RCLCPP_INFO(this->get_logger(), "%s: sync_queue_size = %d", get_name(), syncQueueSize);
RCLCPP_INFO(this->get_logger(), "%s: qos = %d", get_name(), qos);
@@ -88,8 +88,8 @@ StereoSync::StereoSync(const rclcpp::NodeOptions & options) :
if(approxSync)
{
approxSync_ = new message_filters::Synchronizer<MyApproxSyncPolicy>(MyApproxSyncPolicy(syncQueueSize), imageLeftSub_, imageRightSub_, cameraInfoLeftSub_, cameraInfoRightSub_);
if(approxSyncMaxInterval>0.0)
approxSync_->setMaxIntervalDuration(rclcpp::Duration::from_seconds(approxSyncMaxInterval));
if(approxSyncMaxInterval_>0.0)
approxSync_->setMaxIntervalDuration(rclcpp::Duration::from_seconds(approxSyncMaxInterval_));
approxSync_->registerCallback(std::bind(&StereoSync::callback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3, std::placeholders::_4));
}
else
@@ -109,7 +109,7 @@ StereoSync::StereoSync(const rclcpp::NodeOptions & options) :
std::string subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync%s):\n %s,\n %s,\n %s,\n %s",
get_name(),
approxSync?"approx":"exact",
approxSync&&approxSyncMaxInterval!=0.0?uFormat(", max interval=%fs", approxSyncMaxInterval).c_str():"",
approxSync&&approxSyncMaxInterval_!=0.0?uFormat(", max interval=%fs", approxSyncMaxInterval_).c_str():"",
imageLeftSub_.getSubscriber().getTopic().c_str(),
imageRightSub_.getSubscriber().getTopic().c_str(),
cameraInfoLeftSub_.getSubscriber()->get_topic_name(),