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Added some ROS_INFO about to which topics the nodes are subscribed on initialization

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This commit is contained in:
Mathieu Labbe
2015-04-24 11:24:18 -04:00
parent 9c723006e7
commit c253a75016
6 changed files with 138 additions and 21 deletions
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src/GuiWrapper.cpp
+53 -7
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@@ -934,23 +934,43 @@ void GuiWrapper::setupCallbacks(
if(subscribeLaserScan)
{
ROS_INFO("Registering Depth+LaserScan callback...");
scanSub_.subscribe(nh, "scan", 1);
depthScanSync_ = new message_filters::Synchronizer<MyDepthScanSyncPolicy>(MyDepthScanSyncPolicy(queueSize), imageSub_, odomSub_, imageDepthSub_, cameraInfoSub_, scanSub_);
depthScanSync_->registerCallback(boost::bind(&GuiWrapper::depthScanCallback, this, _1, _2, _3, _4, _5));
ROS_INFO("\n%s subscribed to:\n %s,\n %s,\n %s,\n %s,\n %s",
ros::this_node::getName().c_str(),
imageSub_.getTopic().c_str(),
imageDepthSub_.getTopic().c_str(),
cameraInfoSub_.getTopic().c_str(),
odomSub_.getTopic().c_str(),
scanSub_.getTopic().c_str());
}
else if(subscribeOdomInfo)
{
ROS_INFO("Registering Depth callback + OdomInfo...");
odomInfoSub_.subscribe(nh, "odom_info", 1);
depthOdomInfoSync_ = new message_filters::Synchronizer<MyDepthOdomInfoSyncPolicy>(MyDepthOdomInfoSyncPolicy(queueSize), imageSub_, odomSub_, odomInfoSub_, imageDepthSub_, cameraInfoSub_);
depthOdomInfoSync_->registerCallback(boost::bind(&GuiWrapper::depthOdomInfoCallback, this, _1, _2, _3, _4, _5));
ROS_INFO("\n%s subscribed to:\n %s,\n %s,\n %s,\n %s,\n %s",
ros::this_node::getName().c_str(),
imageSub_.getTopic().c_str(),
imageDepthSub_.getTopic().c_str(),
cameraInfoSub_.getTopic().c_str(),
odomSub_.getTopic().c_str(),
odomInfoSub_.getTopic().c_str());
}
else
{
ROS_INFO("Registering Depth callback...");
depthSync_ = new message_filters::Synchronizer<MyDepthSyncPolicy>(MyDepthSyncPolicy(queueSize), imageSub_, odomSub_, imageDepthSub_, cameraInfoSub_);
depthSync_->registerCallback(boost::bind(&GuiWrapper::depthCallback, this, _1, _2, _3, _4));
ROS_INFO("\n%s subscribed to:\n %s,\n %s,\n %s,\n %s",
ros::this_node::getName().c_str(),
imageSub_.getTopic().c_str(),
imageDepthSub_.getTopic().c_str(),
cameraInfoSub_.getTopic().c_str(),
odomSub_.getTopic().c_str());
}
}
else if(subscribeStereo)
@@ -972,29 +992,55 @@ void GuiWrapper::setupCallbacks(
if(subscribeLaserScan)
{
ROS_INFO("Registering Stereo callback + LaserScan...");
scanSub_.subscribe(nh, "scan", 1);
stereoScanSync_ = new message_filters::Synchronizer<MyStereoScanSyncPolicy>(MyStereoScanSyncPolicy(queueSize), odomSub_, scanSub_, imageRectLeft_, imageRectRight_, cameraInfoLeft_, cameraInfoRight_);
stereoScanSync_->registerCallback(boost::bind(&GuiWrapper::stereoScanCallback, this, _1, _2, _3, _4, _5, _6));
ROS_INFO("\n%s subscribed to:\n %s,\n %s,\n %s,\n %s,\n %s,\n %s",
ros::this_node::getName().c_str(),
imageRectLeft_.getTopic().c_str(),
imageRectRight_.getTopic().c_str(),
cameraInfoLeft_.getTopic().c_str(),
cameraInfoRight_.getTopic().c_str(),
odomSub_.getTopic().c_str(),
scanSub_.getTopic().c_str());
}
else if(subscribeOdomInfo)
{
ROS_INFO("Registering Stereo callback + OdomInfo...");
odomInfoSub_.subscribe(nh, "odom_info", 1);
stereoOdomInfoSync_ = new message_filters::Synchronizer<MyStereoOdomInfoSyncPolicy>(MyStereoOdomInfoSyncPolicy(queueSize), odomSub_, odomInfoSub_, imageRectLeft_, imageRectRight_, cameraInfoLeft_, cameraInfoRight_);
stereoOdomInfoSync_->registerCallback(boost::bind(&GuiWrapper::stereoOdomInfoCallback, this, _1, _2, _3, _4, _5, _6));
ROS_INFO("\n%s subscribed to:\n %s,\n %s,\n %s,\n %s,\n %s,\n %s",
ros::this_node::getName().c_str(),
imageRectLeft_.getTopic().c_str(),
imageRectRight_.getTopic().c_str(),
cameraInfoLeft_.getTopic().c_str(),
cameraInfoRight_.getTopic().c_str(),
odomSub_.getTopic().c_str(),
odomInfoSub_.getTopic().c_str());
}
else
{
ROS_INFO("Registering Stereo callback...");
stereoSync_ = new message_filters::Synchronizer<MyStereoSyncPolicy>(MyStereoSyncPolicy(queueSize), odomSub_, imageRectLeft_, imageRectRight_, cameraInfoLeft_, cameraInfoRight_);
stereoSync_->registerCallback(boost::bind(&GuiWrapper::stereoCallback, this, _1, _2, _3, _4, _5));
ROS_INFO("\n%s subscribed to:\n %s,\n %s,\n %s,\n %s,\n %s",
ros::this_node::getName().c_str(),
imageRectLeft_.getTopic().c_str(),
imageRectRight_.getTopic().c_str(),
cameraInfoLeft_.getTopic().c_str(),
cameraInfoRight_.getTopic().c_str(),
odomSub_.getTopic().c_str());
}
}
else // default odom only
{
ROS_INFO("Registering default callback (\"odom\" only)...");
defaultSub_ = nh.subscribe("odom", 1, &GuiWrapper::defaultCallback, this);
ROS_INFO("\n%s subscribed to:\n %s",
ros::this_node::getName().c_str(),
odomSub_.getTopic().c_str());
}
}