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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_util/include/rtabmap_util/point_cloud_aggregator.hpp
+3 -3
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@@ -33,9 +33,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <tf2_ros/buffer.h>
#include <tf2_ros/transform_listener.h>
#include <message_filters/sync_policies/approximate_time.h>
#include <message_filters/subscriber.h>
#include <message_filters/sync_policies/exact_time.h>
#include <message_filters/sync_policies/approximate_time.hpp>
#include <message_filters/subscriber.hpp>
#include <message_filters/sync_policies/exact_time.hpp>
namespace rtabmap_util
{
rtabmap_util/include/rtabmap_util/point_cloud_assembler.hpp
+2 -2
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@@ -34,8 +34,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <nav_msgs/msg/odometry.hpp>
#include <sensor_msgs/msg/point_cloud2.hpp>
#include <message_filters/subscriber.h>
#include <message_filters/sync_policies/exact_time.h>
#include <message_filters/subscriber.hpp>
#include <message_filters/sync_policies/exact_time.hpp>
#include <rtabmap_conversions/MsgConversion.h>
#include <rtabmap/core/util3d.h>
rtabmap_util/include/rtabmap_util/point_cloud_xyz.hpp
+3 -3
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@@ -36,9 +36,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <image_transport/image_transport.hpp>
#include <image_transport/subscriber_filter.hpp>
#include <message_filters/sync_policies/approximate_time.h>
#include <message_filters/sync_policies/exact_time.h>
#include <message_filters/subscriber.h>
#include <message_filters/sync_policies/approximate_time.hpp>
#include <message_filters/sync_policies/exact_time.hpp>
#include <message_filters/subscriber.hpp>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
rtabmap_util/include/rtabmap_util/point_cloud_xyzrgb.hpp
+3 -3
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@@ -38,9 +38,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <image_transport/image_transport.hpp>
#include <image_transport/subscriber_filter.hpp>
#include <message_filters/sync_policies/approximate_time.h>
#include <message_filters/sync_policies/exact_time.h>
#include <message_filters/subscriber.h>
#include <message_filters/sync_policies/approximate_time.hpp>
#include <message_filters/sync_policies/exact_time.hpp>
#include <message_filters/subscriber.hpp>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
rtabmap_util/include/rtabmap_util/pointcloud_to_depthimage.hpp
+3 -3
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@@ -37,9 +37,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <tf2_ros/buffer.h>
#include <tf2_ros/transform_listener.h>
#include <message_filters/sync_policies/approximate_time.h>
#include <message_filters/sync_policies/exact_time.h>
#include <message_filters/subscriber.h>
#include <message_filters/sync_policies/approximate_time.hpp>
#include <message_filters/sync_policies/exact_time.hpp>
#include <message_filters/subscriber.hpp>
namespace rtabmap_util
{
rtabmap_util/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_util</name>
<version>0.22.0</version>
<version>0.22.1</version>
<description>RTAB-Map's various useful nodes and nodelets.</description>
<maintainer email="[email protected]">Mathieu Labbe</maintainer>
<author>Mathieu Labbe</author>
rtabmap_util/src/nodelets/imu_to_tf.cpp
+1 -1
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@@ -28,7 +28,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap_util/imu_to_tf.hpp>
#include <rtabmap_conversions/MsgConversion.h>
#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
#include <tf2/LinearMath/Transform.h>
#include <tf2/LinearMath/Transform.hpp>
#include <tf2/utils.hpp>
namespace rtabmap_util
rtabmap_util/src/nodelets/point_cloud_aggregator.cpp
+5 -5
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@@ -87,14 +87,14 @@ PointCloudAggregator::PointCloudAggregator(const rclcpp::NodeOptions & options)
cloudPub_ = create_publisher<sensor_msgs::msg::PointCloud2>("combined_cloud", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos));
cloudSub_1_.subscribe(this, "cloud1", rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
cloudSub_2_.subscribe(this, "cloud2", rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
cloudSub_1_.subscribe(this, "cloud1", RCLCPP_QOS(topicQueueSize, qos));
cloudSub_2_.subscribe(this, "cloud2", RCLCPP_QOS(topicQueueSize, qos));
std::string subscribedTopicsMsg;
if(count == 4)
{
cloudSub_3_.subscribe(this, "cloud3", rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
cloudSub_4_.subscribe(this, "cloud4", rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
cloudSub_3_.subscribe(this, "cloud3", RCLCPP_QOS(topicQueueSize, qos));
cloudSub_4_.subscribe(this, "cloud4", RCLCPP_QOS(topicQueueSize, qos));
if(approx)
{
approxSync4_ = new message_filters::Synchronizer<ApproxSync4Policy>(ApproxSync4Policy(syncQueueSize), cloudSub_1_, cloudSub_2_, cloudSub_3_, cloudSub_4_);
@@ -118,7 +118,7 @@ PointCloudAggregator::PointCloudAggregator(const rclcpp::NodeOptions & options)
}
else if(count == 3)
{
cloudSub_3_.subscribe(this, "cloud3", rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
cloudSub_3_.subscribe(this, "cloud3", RCLCPP_QOS(topicQueueSize, qos));
if(approx)
{
approxSync3_ = new message_filters::Synchronizer<ApproxSync3Policy>(ApproxSync3Policy(syncQueueSize), cloudSub_1_, cloudSub_2_, cloudSub_3_);
rtabmap_util/src/nodelets/point_cloud_assembler.cpp
+5 -5
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@@ -147,9 +147,9 @@ PointCloudAssembler::PointCloudAssembler(const rclcpp::NodeOptions & options) :
}
else if(subscribeOdomInfo)
{
syncCloudSub_.subscribe(this, "cloud", rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
syncOdomSub_.subscribe(this, "odom", rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qosOdom).get_rmw_qos_profile());
syncOdomInfoSub_.subscribe(this, "odom_info", rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qosOdom).get_rmw_qos_profile());
syncCloudSub_.subscribe(this, "cloud", RCLCPP_QOS(topicQueueSize, qos));
syncOdomSub_.subscribe(this, "odom", RCLCPP_QOS(topicQueueSize, qosOdom));
syncOdomInfoSub_.subscribe(this, "odom_info", RCLCPP_QOS(topicQueueSize, qosOdom));
exactInfoSync_ = new message_filters::Synchronizer<syncInfoPolicy>(syncInfoPolicy(syncQueueSize), syncCloudSub_, syncOdomSub_, syncOdomInfoSub_);
exactInfoSync_->registerCallback(std::bind(&rtabmap_util::PointCloudAssembler::callbackCloudOdomInfo, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
subscribedTopicsMsg_ = uFormat("\n%s subscribed to (exact sync):\n %s,\n %s",
@@ -160,8 +160,8 @@ PointCloudAssembler::PointCloudAssembler(const rclcpp::NodeOptions & options) :
}
else
{
syncCloudSub_.subscribe(this, "cloud", rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
syncOdomSub_.subscribe(this, "odom", rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qosOdom).get_rmw_qos_profile());
syncCloudSub_.subscribe(this, "cloud", RCLCPP_QOS(topicQueueSize, qos));
syncOdomSub_.subscribe(this, "odom", RCLCPP_QOS(topicQueueSize, qosOdom));
exactSync_ = new message_filters::Synchronizer<syncPolicy>(syncPolicy(syncQueueSize), syncCloudSub_, syncOdomSub_);
exactSync_->registerCallback(std::bind(&rtabmap_util::PointCloudAssembler::callbackCloudOdom, this, std::placeholders::_1, std::placeholders::_2));
subscribedTopicsMsg_ = uFormat("\n%s subscribed to (exact sync):\n %s,\n %s",
rtabmap_util/src/nodelets/point_cloud_xyz.cpp
+3 -3
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@@ -158,10 +158,10 @@ PointCloudXYZ::PointCloudXYZ(const rclcpp::NodeOptions & options) :
image_transport::TransportHints hints(this);
imageDepthSub_.subscribe(this, "depth/image", hints.getTransport(), rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
cameraInfoSub_.subscribe(this, "depth/camera_info", rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qosCamInfo).get_rmw_qos_profile());
cameraInfoSub_.subscribe(this, "depth/camera_info", RCLCPP_QOS(topicQueueSize, qosCamInfo));
disparitySub_.subscribe(this, "disparity/image", rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
disparityCameraInfoSub_.subscribe(this, "disparity/camera_info", rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qosCamInfo).get_rmw_qos_profile());
disparitySub_.subscribe(this, "disparity/image", RCLCPP_QOS(topicQueueSize, qos));
disparityCameraInfoSub_.subscribe(this, "disparity/camera_info", RCLCPP_QOS(topicQueueSize, qosCamInfo));
}
PointCloudXYZ::~PointCloudXYZ()
rtabmap_util/src/nodelets/point_cloud_xyzrgb.cpp
+4 -4
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@@ -187,14 +187,14 @@ PointCloudXYZRGB::PointCloudXYZRGB(const rclcpp::NodeOptions & options) :
image_transport::TransportHints hints(this);
imageSub_.subscribe(this, "rgb/image", hints.getTransport(), rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
imageDepthSub_.subscribe(this, "depth/image", hints.getTransport(), rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
cameraInfoSub_.subscribe(this, "rgb/camera_info", rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qosCamInfo).get_rmw_qos_profile());
cameraInfoSub_.subscribe(this, "rgb/camera_info", RCLCPP_QOS(topicQueueSize, qosCamInfo));
imageDisparitySub_.subscribe(this, "disparity", rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
imageDisparitySub_.subscribe(this, "disparity", RCLCPP_QOS(topicQueueSize, qos));
imageLeft_.subscribe(this, "left/image", hints.getTransport(), rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
imageRight_.subscribe(this, "right/image", hints.getTransport(), rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
cameraInfoLeft_.subscribe(this, "left/camera_info", rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qosCamInfo).get_rmw_qos_profile());
cameraInfoRight_.subscribe(this, "right/camera_info", rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qosCamInfo).get_rmw_qos_profile());
cameraInfoLeft_.subscribe(this, "left/camera_info", RCLCPP_QOS(topicQueueSize, qosCamInfo));
cameraInfoRight_.subscribe(this, "right/camera_info", RCLCPP_QOS(topicQueueSize, qosCamInfo));
}
PointCloudXYZRGB::~PointCloudXYZRGB()
rtabmap_util/src/nodelets/pointcloud_to_depthimage.cpp
+2 -2
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@@ -125,8 +125,8 @@ PointCloudToDepthImage::PointCloudToDepthImage(const rclcpp::NodeOptions & optio
exactSync_->registerCallback(std::bind(&PointCloudToDepthImage::callback, this, std::placeholders::_1, std::placeholders::_2));
}
pointCloudSub_.subscribe(this, "cloud", rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
cameraInfoSub_.subscribe(this, "camera_info", rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qosCamInfo).get_rmw_qos_profile());
pointCloudSub_.subscribe(this, "cloud", RCLCPP_QOS(topicQueueSize, qos));
cameraInfoSub_.subscribe(this, "camera_info", RCLCPP_QOS(topicQueueSize, qosCamInfo));
}
PointCloudToDepthImage::~PointCloudToDepthImage()