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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_odom/src/ICPOdometryNode.cpp
+4 -1
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@@ -70,7 +70,10 @@ int main(int argc, char **argv)
rclcpp::init(argc, argv);
rclcpp::NodeOptions options;
options.arguments(arguments);
rclcpp::spin(std::make_shared<rtabmap_odom::ICPOdometry>(options));
auto node = std::make_shared<rtabmap_odom::ICPOdometry>(options);
rclcpp::executors::MultiThreadedExecutor executor;
executor.add_node(node);
executor.spin();
rclcpp::shutdown();
return 0;
}