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merged ros2->humble-devel

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matlabbe
2025-07-12 17:20:52 -07:00
parent 398710acda
commit c4d8a4b866
55 changed files with 432 additions and 315 deletions
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rtabmap_odom/include/rtabmap_odom/rgbd_odometry.hpp
+3 -3
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@@ -30,9 +30,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap_odom/OdometryROS.h>
#include <rtabmap_odom/visibility.h>
#include <message_filters/subscriber.h>
#include <message_filters/time_synchronizer.h>
#include <message_filters/sync_policies/approximate_time.h>
#include <message_filters/subscriber.hpp>
#include <message_filters/time_synchronizer.hpp>
#include <message_filters/sync_policies/approximate_time.hpp>
#include <image_transport/image_transport.hpp>
#include <image_transport/subscriber_filter.hpp>
rtabmap_odom/include/rtabmap_odom/stereo_odometry.hpp
+3 -3
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@@ -30,9 +30,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap_odom/OdometryROS.h>
#include <rtabmap_odom/visibility.h>
#include <message_filters/subscriber.h>
#include <message_filters/time_synchronizer.h>
#include <message_filters/sync_policies/approximate_time.h>
#include <message_filters/subscriber.hpp>
#include <message_filters/time_synchronizer.hpp>
#include <message_filters/sync_policies/approximate_time.hpp>
#include <image_transport/image_transport.hpp>
#include <image_transport/subscriber_filter.hpp>
rtabmap_odom/package.xml
+1 -1
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@@ -2,7 +2,7 @@
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>rtabmap_odom</name>
<version>0.22.0</version>
<version>0.22.1</version>
<description>RTAB-Map's odometry package.</description>
<maintainer email="[email protected]">Mathieu Labbe</maintainer>
<author>Mathieu Labbe</author>
rtabmap_odom/src/nodelets/rgbd_odometry.cpp
+7 -7
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@@ -138,23 +138,23 @@ void RGBDOdometry::onOdomInit()
{
if(rgbdCameras >= 2)
{
rgbd_image1_sub_.subscribe(this, "rgbd_image0", rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qos()).get_rmw_qos_profile(), options);
rgbd_image2_sub_.subscribe(this, "rgbd_image1", rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qos()).get_rmw_qos_profile(), options);
rgbd_image1_sub_.subscribe(this, "rgbd_image0", RCLCPP_QOS(topicQueueSize_, qos()), options);
rgbd_image2_sub_.subscribe(this, "rgbd_image1", RCLCPP_QOS(topicQueueSize_, qos()), options);
if(rgbdCameras >= 3)
{
rgbd_image3_sub_.subscribe(this, "rgbd_image2", rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qos()).get_rmw_qos_profile(), options);
rgbd_image3_sub_.subscribe(this, "rgbd_image2", RCLCPP_QOS(topicQueueSize_, qos()), options);
}
if(rgbdCameras >= 4)
{
rgbd_image4_sub_.subscribe(this, "rgbd_image3", rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qos()).get_rmw_qos_profile(), options);
rgbd_image4_sub_.subscribe(this, "rgbd_image3", RCLCPP_QOS(topicQueueSize_, qos()), options);
}
if(rgbdCameras >= 5)
{
rgbd_image5_sub_.subscribe(this, "rgbd_image4", rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qos()).get_rmw_qos_profile(), options);
rgbd_image5_sub_.subscribe(this, "rgbd_image4", RCLCPP_QOS(topicQueueSize_, qos()), options);
}
if(rgbdCameras >= 6)
{
rgbd_image6_sub_.subscribe(this, "rgbd_image5", rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qos()).get_rmw_qos_profile(), options);
rgbd_image6_sub_.subscribe(this, "rgbd_image5", RCLCPP_QOS(topicQueueSize_, qos()), options);
}
if(rgbdCameras == 2)
@@ -366,7 +366,7 @@ void RGBDOdometry::onOdomInit()
image_mono_sub_.subscribe(this, rgb_topic, rgb_hints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qos()).get_rmw_qos_profile(), options);
image_depth_sub_.subscribe(this, depth_topic, depth_hints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qos()).get_rmw_qos_profile(), options);
info_sub_.subscribe(this, "rgb/camera_info", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qosCamInfo).get_rmw_qos_profile());
info_sub_.subscribe(this, "rgb/camera_info", RCLCPP_QOS(topicQueueSize_, qosCamInfo), options);
if(approxSync)
{
rtabmap_odom/src/nodelets/stereo_odometry.cpp
+8 -8
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@@ -129,23 +129,23 @@ void StereoOdometry::onOdomInit()
{
if(rgbdCameras >= 2)
{
rgbd_image1_sub_.subscribe(this, "rgbd_image0", rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qos()).get_rmw_qos_profile(), options);
rgbd_image2_sub_.subscribe(this, "rgbd_image1", rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qos()).get_rmw_qos_profile(), options);
rgbd_image1_sub_.subscribe(this, "rgbd_image0", RCLCPP_QOS(topicQueueSize_, qos()), options);
rgbd_image2_sub_.subscribe(this, "rgbd_image1", RCLCPP_QOS(topicQueueSize_, qos()), options);
if(rgbdCameras >= 3)
{
rgbd_image3_sub_.subscribe(this, "rgbd_image2", rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qos()).get_rmw_qos_profile(), options);
rgbd_image3_sub_.subscribe(this, "rgbd_image2", RCLCPP_QOS(topicQueueSize_, qos()), options);
}
if(rgbdCameras >= 4)
{
rgbd_image4_sub_.subscribe(this, "rgbd_image3", rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qos()).get_rmw_qos_profile(), options);
rgbd_image4_sub_.subscribe(this, "rgbd_image3", RCLCPP_QOS(topicQueueSize_, qos()), options);
}
if(rgbdCameras >= 5)
{
rgbd_image5_sub_.subscribe(this, "rgbd_image4", rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qos()).get_rmw_qos_profile(), options);
rgbd_image5_sub_.subscribe(this, "rgbd_image4", RCLCPP_QOS(topicQueueSize_, qos()), options);
}
if(rgbdCameras >= 6)
{
rgbd_image6_sub_.subscribe(this, "rgbd_image5", rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qos()).get_rmw_qos_profile(), options);
rgbd_image6_sub_.subscribe(this, "rgbd_image5", RCLCPP_QOS(topicQueueSize_, qos()), options);
}
if(rgbdCameras == 2)
@@ -350,8 +350,8 @@ void StereoOdometry::onOdomInit()
image_transport::TransportHints hints(this);
imageRectLeft_.subscribe(this, "left/image_rect", hints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qos()).get_rmw_qos_profile(), options);
imageRectRight_.subscribe(this, "right/image_rect", hints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qos()).get_rmw_qos_profile(), options);
cameraInfoLeft_.subscribe(this, "left/camera_info", rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qosCamInfo).get_rmw_qos_profile(), options);
cameraInfoRight_.subscribe(this, "right/camera_info", rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qosCamInfo).get_rmw_qos_profile(), options);
cameraInfoLeft_.subscribe(this, "left/camera_info", RCLCPP_QOS(topicQueueSize_, qosCamInfo), options);
cameraInfoRight_.subscribe(this, "right/camera_info", RCLCPP_QOS(topicQueueSize_, qosCamInfo), options);
if(approxSync)
{