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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_util/src/nodelets/disparity_to_depth.cpp
+2 -4
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@@ -45,10 +45,8 @@ DisparityToDepth::DisparityToDepth(const rclcpp::NodeOptions & options) :
int qos = 0;
qos = this->declare_parameter("qos", qos);
auto node = std::shared_ptr<DisparityToDepth>(this, [](auto *) {});
image_transport::ImageTransport it(node);
pub32f_ = image_transport::create_publisher(node.get(), "depth", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
pub16u_ = image_transport::create_publisher(node.get(), "depth_raw", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
pub32f_ = image_transport::create_publisher(this, "depth", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
pub16u_ = image_transport::create_publisher(this, "depth_raw", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
sub_ = create_subscription<stereo_msgs::msg::DisparityImage>("disparity", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos), std::bind(&DisparityToDepth::callback, this, std::placeholders::_1));
}
rtabmap_util/src/nodelets/pointcloud_to_depthimage.cpp
+2 -4
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@@ -107,10 +107,8 @@ PointCloudToDepthImage::PointCloudToDepthImage(const rclcpp::NodeOptions & optio
RCLCPP_INFO(this->get_logger(), " decimation=%d", decimation_);
RCLCPP_INFO(this->get_logger(), " upscale=%s (upscale_depth_error_ratio=%f)", upscale_?"true":"false", upscaleDepthErrorRatio_);
auto node = std::shared_ptr<PointCloudToDepthImage>(this, [](auto *) {});
image_transport::ImageTransport it(node);
depthImage16Pub_ = image_transport::create_camera_publisher(node.get(), "image_raw", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile()); // 16 bits unsigned in mm
depthImage32Pub_ = image_transport::create_camera_publisher(node.get(), "image", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());// 32 bits float in meters
depthImage16Pub_ = image_transport::create_camera_publisher(this, "image_raw", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile()); // 16 bits unsigned in mm
depthImage32Pub_ = image_transport::create_camera_publisher(this, "image", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());// 32 bits float in meters
pointCloudTransformedPub_ = create_publisher<sensor_msgs::msg::PointCloud2>("cloud_transformed", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos));
cameraInfo16Pub_ = create_publisher<sensor_msgs::msg::CameraInfo>(depthImage16Pub_.getTopic()+"/camera_info", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qosCamInfo));
cameraInfo32Pub_ = create_publisher<sensor_msgs::msg::CameraInfo>(depthImage32Pub_.getTopic()+"/camera_info", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qosCamInfo));
rtabmap_util/src/nodelets/rgbd_split.cpp
+2 -4
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@@ -46,10 +46,8 @@ RGBDSplit::RGBDSplit(const rclcpp::NodeOptions & options) :
rgbdImageSub_ = create_subscription<rtabmap_msgs::msg::RGBDImage>("rgbd_image", rclcpp::QoS(5).reliability((rmw_qos_reliability_policy_t)qos), std::bind(&RGBDSplit::callback, this, std::placeholders::_1));
auto node = std::shared_ptr<RGBDSplit>(this, [](auto *) {});
image_transport::ImageTransport it(node);
rgbPub_ = image_transport::create_camera_publisher(node.get(), std::string(rgbdImageSub_->get_topic_name()) + "/rgb", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
depthPub_ = image_transport::create_camera_publisher(node.get(), std::string(rgbdImageSub_->get_topic_name()) + "/depth", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
rgbPub_ = image_transport::create_camera_publisher(this, std::string(rgbdImageSub_->get_topic_name()) + "/rgb", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
depthPub_ = image_transport::create_camera_publisher(this, std::string(rgbdImageSub_->get_topic_name()) + "/depth", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
}