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Fixing topic sync lagging and delay issues, more examples (depthai, zed) (#1206)

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* Fixed odometry latency

* Fixed node ID=0 issues as msgs may not have seq. (#1202)

(cherry picked from commit 097cab0667)

* Odom: removed long processing from ros callbacks (decreasing delay, also making delay independent of the message filters topic_queue_size and sync_queue_size parameters)

* Changed a log from info->debug

* Changed a log from info->debug

* Updated default topic and sync queue_size inside nodes. Exposing topic and sync queue size params in warning when cannot synchronize. Added zed and depthai examples. Odom: Fixed imu callback group, added multi-threaded executors for all odometry nodes.

* fixed merge

* Include everything needed in example launch files for simple launch. Small fixes.

---------

Co-authored-by: Borong Yuan <[email protected]>
This commit is contained in:
matlabbe
2024-09-04 00:46:44 -07:00
committed by GitHub
co-authored by Borong Yuan
parent 268609b0b7
commit c956e3780f
27 changed files with 465 additions and 180 deletions
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rtabmap_conversions/src/MsgConversion.cpp
-6
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@@ -1988,12 +1988,6 @@ rtabmap::Transform getTransform(
{
// TF ready?
rtabmap::Transform transform;
std::string errString;
if(!tfBuffer.canTransform(fromFrameId, toFrameId, tf2_ros::fromMsg(stamp), tf2::durationFromSec(waitForTransform), &errString))
{
UWARN("(can transform %s -> %s?) %s (wait_for_transform=%f)", fromFrameId.c_str(), toFrameId.c_str(), errString.c_str(), waitForTransform);
return rtabmap::Transform();
}
try
{
geometry_msgs::msg::TransformStamped tmp;