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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.

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Co-authored-by: Borong Yuan <yuanborong@hotmail.com>
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_viz/src/GuiWrapper.cpp
-1
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@@ -335,7 +335,6 @@ bool GuiWrapper::handleEvent(UEvent * anEvent)
const rtabmap::ParametersMap & defaultParameters = rtabmap::Parameters::getDefaultParameters();
rtabmap::ParametersMap parameters = ((rtabmap::ParamEvent *)anEvent)->getParameters();
std::vector<rclcpp::Parameter> rosParameters;
auto node = rclcpp::Node::make_shared("rtabmap_viz");
for(rtabmap::ParametersMap::iterator i=parameters.begin(); i!=parameters.end(); ++i)
{
//save only parameters with valid names