mirror of
https://github.com/introlab/rtabmap_ros.git
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Fixing topic sync lagging and delay issues, more examples (depthai, zed) (#1206)
* 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
@@ -85,6 +85,7 @@ def launch_setup(context, *args, **kwargs):
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namespace=LaunchConfiguration('namespace')),
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Node(
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package='rtabmap_sync', executable='rgbd_sync', name="rgbd_sync", output="screen",
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emulate_tty=True,
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condition=IfCondition(PythonExpression(["'", LaunchConfiguration('stereo'), "' != 'true' and '", LaunchConfiguration('rgbd_sync'), "' == 'true'"])),
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parameters=[{
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"approx_sync": LaunchConfiguration('approx_rgbd_sync'),
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@@ -120,6 +121,7 @@ def launch_setup(context, *args, **kwargs):
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namespace=LaunchConfiguration('namespace')),
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Node(
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package='rtabmap_sync', executable='stereo_sync', name="stereo_sync", output="screen",
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emulate_tty=True,
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condition=IfCondition(PythonExpression(["'", LaunchConfiguration('stereo'), "' == 'true' and '", LaunchConfiguration('rgbd_sync'), "' == 'true'"])),
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parameters=[{
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"approx_sync": LaunchConfiguration('approx_rgbd_sync'),
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@@ -139,6 +141,7 @@ def launch_setup(context, *args, **kwargs):
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# Relay rgbd_image
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Node(
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package='rtabmap_util', executable='rgbd_relay', name="rgbd_relay", output="screen",
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emulate_tty=True,
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condition=IfCondition(PythonExpression(["'", LaunchConfiguration('rgbd_sync'), "' != 'true' and '", LaunchConfiguration('subscribe_rgbd'), "' == 'true' and '", LaunchConfiguration('compressed'), "' != 'true'"])),
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parameters=[{
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"qos": LaunchConfiguration('qos_image')}],
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@@ -148,6 +151,7 @@ def launch_setup(context, *args, **kwargs):
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namespace=LaunchConfiguration('namespace')),
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Node(
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package='rtabmap_util', executable='rgbd_relay', name="rgbd_relay_uncompress", output="screen",
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emulate_tty=True,
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condition=IfCondition(PythonExpression(["'", LaunchConfiguration('rgbd_sync'), "' != 'true' and '", LaunchConfiguration('subscribe_rgbd'), "' == 'true' and '", LaunchConfiguration('compressed'), "' == 'true'"])),
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parameters=[{
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"uncompress": True,
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@@ -160,6 +164,7 @@ def launch_setup(context, *args, **kwargs):
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# RGB-D odometry
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Node(
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package='rtabmap_odom', executable='rgbd_odometry', name="rgbd_odometry", output="screen",
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emulate_tty=True,
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condition=IfCondition(PythonExpression(["'", LaunchConfiguration('icp_odometry'), "' != 'true' and '", LaunchConfiguration('visual_odometry'), "' == 'true' and '", LaunchConfiguration('stereo'), "' != 'true'"])),
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parameters=[{
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"frame_id": LaunchConfiguration('frame_id'),
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@@ -195,6 +200,7 @@ def launch_setup(context, *args, **kwargs):
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# Stereo odometry
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Node(
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package='rtabmap_odom', executable='stereo_odometry', name="stereo_odometry", output="screen",
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emulate_tty=True,
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condition=IfCondition(PythonExpression(["'", LaunchConfiguration('icp_odometry'), "' != 'true' and '", LaunchConfiguration('visual_odometry'), "' == 'true' and '", LaunchConfiguration('stereo'), "' == 'true'"])),
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parameters=[{
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"frame_id": LaunchConfiguration('frame_id'),
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@@ -231,6 +237,7 @@ def launch_setup(context, *args, **kwargs):
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# ICP odometry
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Node(
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package='rtabmap_odom', executable='icp_odometry', name="icp_odometry", output="screen",
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emulate_tty=True,
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condition=IfCondition(LaunchConfiguration('icp_odometry')),
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parameters=[{
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"frame_id": LaunchConfiguration('frame_id'),
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@@ -260,6 +267,7 @@ def launch_setup(context, *args, **kwargs):
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Node(
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package='rtabmap_slam', executable='rtabmap', name="rtabmap", output="screen",
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emulate_tty=True,
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parameters=[{
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"subscribe_depth": LaunchConfiguration('depth'),
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"subscribe_rgbd": LaunchConfiguration('subscribe_rgbd'),
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@@ -325,6 +333,7 @@ def launch_setup(context, *args, **kwargs):
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Node(
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package='rtabmap_viz', executable='rtabmap_viz', name="rtabmap_viz", output='screen',
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emulate_tty=True,
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parameters=[{
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"subscribe_depth": LaunchConfiguration('depth'),
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"subscribe_rgbd": LaunchConfiguration('subscribe_rgbd'),
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@@ -368,12 +377,15 @@ def launch_setup(context, *args, **kwargs):
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arguments=[["-d"], [LaunchConfiguration("rviz_cfg")]]),
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Node(
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package='rtabmap_util', executable='point_cloud_xyzrgb', name="point_cloud_xyzrgb", output='screen',
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emulate_tty=True,
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condition=IfCondition(LaunchConfiguration("rviz")),
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parameters=[{
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"decimation": 4,
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"voxel_size": 0.0,
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"approx_sync": LaunchConfiguration('approx_sync'),
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"approx_sync_max_interval": LaunchConfiguration('approx_sync_max_interval')
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"approx_sync_max_interval": LaunchConfiguration('approx_sync_max_interval'),
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"qos": LaunchConfiguration('qos_image'),
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"qos_camera_info": LaunchConfiguration('qos_camera_info')
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}],
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remappings=[
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('left/image', LaunchConfiguration('left_image_topic_relay')),
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@@ -418,8 +430,8 @@ def generate_launch_description():
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DeclareLaunchArgument('publish_tf_map', default_value='true', description='Publish TF between map and odomerty.'),
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DeclareLaunchArgument('namespace', default_value='rtabmap', description=''),
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DeclareLaunchArgument('database_path', default_value='~/.ros/rtabmap.db', description='Where is the map saved/loaded.'),
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DeclareLaunchArgument('topic_queue_size', default_value='1', description='Queue size of individual topic subscribers.'),
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DeclareLaunchArgument('queue_size', default_value='10', description='Backward compatibility, use "sync_queue_size" instead.'),
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DeclareLaunchArgument('topic_queue_size', default_value='10', description='Queue size of individual topic subscribers.'),
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DeclareLaunchArgument('queue_size', default_value='2', description='Backward compatibility, use "sync_queue_size" instead.'),
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DeclareLaunchArgument('qos', default_value='1', description='General QoS used for sensor input data: 0=system default, 1=Reliable, 2=Best Effort.'),
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DeclareLaunchArgument('wait_for_transform', default_value='0.2', description=''),
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DeclareLaunchArgument('rtabmap_args', default_value='', description='Backward compatibility, use "args" instead.'),
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