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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_slam/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_slam</name>
<version>0.22.0</version>
<version>0.22.1</version>
<description>RTAB-Map's SLAM package.</description>
<maintainer email="[email protected]">Mathieu Labbe</maintainer>
<author>Mathieu Labbe</author>
rtabmap_slam/src/CoreWrapper.cpp
+2 -4
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@@ -567,10 +567,8 @@ CoreWrapper::CoreWrapper(const rclcpp::NodeOptions & options) :
RCLCPP_INFO(this->get_logger(), "Subscribe to inter odom + info messages");
interOdomSync_ = new message_filters::Synchronizer<MyExactInterOdomSyncPolicy>(MyExactInterOdomSyncPolicy(100), interOdomSyncSub_, interOdomInfoSyncSub_);
interOdomSync_->registerCallback(std::bind(&CoreWrapper::interOdomInfoCallback, this, std::placeholders::_1, std::placeholders::_2));
rmw_qos_profile_t qos = rmw_qos_profile_default;
qos.depth = 100;
interOdomSyncSub_.subscribe(this, "inter_odom", qos);
interOdomInfoSyncSub_.subscribe(this, "inter_odom_info", qos);
interOdomSyncSub_.subscribe(this, "inter_odom", RCLCPP_QOS(100, rclcpp::ReliabilityPolicy::SystemDefault));
interOdomInfoSyncSub_.subscribe(this, "inter_odom_info", RCLCPP_QOS(100, rclcpp::ReliabilityPolicy::SystemDefault));
}
else
{