rtabmap.launch.py: fixed wrong relay remap names when compressed is false. Fixed warnings showing the base topic names and not the remap names. Added rtabmap.launch.py usage in example launch files. Install rtabmap.launch.py.

CMakeLists.txt

@@ -617,7 +617,7 @@ install(FILES
     launch/ros2/turtlebot3_rgbd.launch.py
     launch/ros2/turtlebot3_rgbd_sync.launch.py
     launch/ros2/realsense_d400.launch.py
-#   launch/rtabmap.launch
+    launch/ros2/rtabmap.launch.py
 #   launch/rgbd_mapping.launch
 #   launch/stereo_mapping.launch
 #   launch/data_recorder.launch

include/rtabmap_ros/CommonDataSubscriberDefines.h

@@ -29,7 +29,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #define INCLUDE_RTABMAP_ROS_COMMONDATASUBSCRIBERIMPL_H_
 
 #include <rtabmap/utilite/UConversion.h>
-
+#include <rtabmap_ros/GetTopicName.h>
 
 #define DATA_SYNC2(PREFIX, SYNC_NAME, MSG0, MSG1) \
 	typedef message_filters::sync_policies::SYNC_NAME##Time<MSG0, MSG1> PREFIX##SYNC_NAME##SyncPolicy; \
@@ -122,8 +122,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 		subscribedTopicsMsg_ = uFormat("\n%s subscribed to (%s sync):\n   %s,\n   %s", \
 				name_.c_str(), \
 				APPROX?"approx":"exact", \
-				SUB0.getTopic().c_str(), \
-				SUB1.getTopic().c_str());
+				getTopicName(SUB0.getSubscriber()).c_str(), \
+				getTopicName(SUB1.getSubscriber()).c_str());
 
 #define SYNC_DECL3(PREFIX, APPROX, QUEUE_SIZE, SUB0, SUB1, SUB2) \
 		if(APPROX) \
@@ -141,9 +141,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 		subscribedTopicsMsg_ = uFormat("\n%s subscribed to (%s sync):\n   %s,\n   %s,\n   %s", \
 				name_.c_str(), \
 				APPROX?"approx":"exact", \
-				SUB0.getTopic().c_str(), \
-				SUB1.getTopic().c_str(), \
-				SUB2.getTopic().c_str());
+				getTopicName(SUB0.getSubscriber()).c_str(), \
+				getTopicName(SUB1.getSubscriber()).c_str(), \
+				getTopicName(SUB2.getSubscriber()).c_str());
 
 #define SYNC_DECL4(PREFIX, APPROX, QUEUE_SIZE, SUB0, SUB1, SUB2, SUB3) \
 		if(APPROX) \
@@ -161,10 +161,10 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 		subscribedTopicsMsg_ = uFormat("\n%s subscribed to (%s sync):\n   %s,\n   %s,\n   %s,\n   %s", \
 				name_.c_str(), \
 				APPROX?"approx":"exact", \
-				SUB0.getTopic().c_str(), \
-				SUB1.getTopic().c_str(), \
-				SUB2.getTopic().c_str(), \
-				SUB3.getTopic().c_str());
+				getTopicName(SUB0.getSubscriber()).c_str(), \
+				getTopicName(SUB1.getSubscriber()).c_str(), \
+				getTopicName(SUB2.getSubscriber()).c_str(), \
+				getTopicName(SUB3.getSubscriber()).c_str());
 
 #define SYNC_DECL5(PREFIX, APPROX, QUEUE_SIZE, SUB0, SUB1, SUB2, SUB3, SUB4) \
 		if(APPROX) \
@@ -182,11 +182,11 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 		subscribedTopicsMsg_ = uFormat("\n%s subscribed to (%s sync):\n   %s,\n   %s,\n   %s,\n   %s,\n   %s", \
 				name_.c_str(), \
 				approxSync?"approx":"exact", \
-				SUB0.getTopic().c_str(), \
-				SUB1.getTopic().c_str(), \
-				SUB2.getTopic().c_str(), \
-				SUB3.getTopic().c_str(), \
-				SUB4.getTopic().c_str());
+				getTopicName(SUB0.getSubscriber()).c_str(), \
+				getTopicName(SUB1.getSubscriber()).c_str(), \
+				getTopicName(SUB2.getSubscriber()).c_str(), \
+				getTopicName(SUB3.getSubscriber()).c_str(), \
+				getTopicName(SUB4.getSubscriber()).c_str());
 
 #define SYNC_DECL6(PREFIX, APPROX, QUEUE_SIZE, SUB0, SUB1, SUB2, SUB3, SUB4, SUB5) \
 		if(APPROX) \
@@ -204,12 +204,12 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 		subscribedTopicsMsg_ = uFormat("\n%s subscribed to (%s sync):\n   %s,\n   %s,\n   %s,\n   %s,\n   %s,\n   %s", \
 				name_.c_str(), \
 				APPROX?"approx":"exact", \
-				SUB0.getTopic().c_str(), \
-				SUB1.getTopic().c_str(), \
-				SUB2.getTopic().c_str(), \
-				SUB3.getTopic().c_str(), \
-				SUB4.getTopic().c_str(), \
-				SUB5.getTopic().c_str());
+				getTopicName(SUB0.getSubscriber()).c_str(), \
+				getTopicName(SUB1.getSubscriber()).c_str(), \
+				getTopicName(SUB2.getSubscriber()).c_str(), \
+				getTopicName(SUB3.getSubscriber()).c_str(), \
+				getTopicName(SUB4.getSubscriber()).c_str(), \
+				getTopicName(SUB5.getSubscriber()).c_str());
 
 #define SYNC_DECL7(PREFIX, APPROX, QUEUE_SIZE, SUB0, SUB1, SUB2, SUB3, SUB4, SUB5, SUB6) \
 		if(APPROX) \
@@ -227,13 +227,13 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 		subscribedTopicsMsg_ = uFormat("\n%s subscribed to (%s sync):\n   %s,\n   %s,\n   %s,\n   %s,\n   %s,\n   %s,\n   %s", \
 				name_.c_str(), \
 				APPROX?"approx":"exact", \
-				SUB0.getTopic().c_str(), \
-				SUB1.getTopic().c_str(), \
-				SUB2.getTopic().c_str(), \
-				SUB3.getTopic().c_str(), \
-				SUB4.getTopic().c_str(), \
-				SUB5.getTopic().c_str(), \
-				SUB6.getTopic().c_str());
+				getTopicName(SUB0.getSubscriber()).c_str(), \
+				getTopicName(SUB1.getSubscriber()).c_str(), \
+				getTopicName(SUB2.getSubscriber()).c_str(), \
+				getTopicName(SUB3.getSubscriber()).c_str(), \
+				getTopicName(SUB4.getSubscriber()).c_str(), \
+				getTopicName(SUB5.getSubscriber()).c_str(), \
+				getTopicName(SUB6.getSubscriber()).c_str());
 
 #define SYNC_DECL8(PREFIX, APPROX, QUEUE_SIZE, SUB0, SUB1, SUB2, SUB3, SUB4, SUB5, SUB6, SUB7) \
 		if(APPROX) \
@@ -251,14 +251,14 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 		subscribedTopicsMsg_ = uFormat("\n%s subscribed to (%s sync):\n   %s,\n   %s,\n   %s,\n   %s,\n   %s,\n   %s,\n   %s", \
 				name_.c_str(), \
 				APPROX?"approx":"exact", \
-				SUB0.getTopic().c_str(), \
-				SUB1.getTopic().c_str(), \
-				SUB2.getTopic().c_str(), \
-				SUB3.getTopic().c_str(), \
-				SUB4.getTopic().c_str(), \
-				SUB5.getTopic().c_str(), \
-				SUB6.getTopic().c_str(), \
-				SUB7.getTopic().c_str());
+				getTopicName(SUB0.getSubscriber()).c_str(), \
+				getTopicName(SUB1.getSubscriber()).c_str(), \
+				getTopicName(SUB2.getSubscriber()).c_str(), \
+				getTopicName(SUB3.getSubscriber()).c_str(), \
+				getTopicName(SUB4.getSubscriber()).c_str(), \
+				getTopicName(SUB5.getSubscriber()).c_str(), \
+				getTopicName(SUB6.getSubscriber()).c_str(), \
+				getTopicName(SUB7.getSubscriber()).c_str());
 
 
 #endif /* INCLUDE_RTABMAP_ROS_COMMONDATASUBSCRIBERIMPL_H_ */

include/rtabmap_ros/GetTopicName.h

@@ -0,0 +1,35 @@
+/*
+ * GetTopicName.h
+ *
+ *  Created on: Oct 1, 2021
+ *      Author: mathieu
+ */
+
+#ifndef INCLUDE_RTABMAP_ROS_GETTOPICNAME_H_
+#define INCLUDE_RTABMAP_ROS_GETTOPICNAME_H_
+
+#include <string>
+
+template<class T>
+auto getTopicNameImpl(T const& obj, int)
+    -> decltype(obj->get_topic_name(), std::string())
+{
+   return obj->get_topic_name();
+}
+
+template<class T>
+auto getTopicNameImpl(T const& obj, long)
+    -> decltype(obj.getTopic(), std::string())
+{
+  return obj.getTopic();
+}
+
+template<class T>
+auto getTopicName(T const& obj)
+    -> decltype(getTopicNameImpl(obj, 0), std::string())
+{
+  return getTopicNameImpl(obj, 0);
+}
+
+
+#endif /* INCLUDE_RTABMAP_ROS_GETTOPICNAME_H_ */

launch/ros2/realsense_d400.launch.py

@@ -3,7 +3,10 @@
 #   Install realsense2 ros2 package (refactor branch)
 # Example:
 #   $ ros2 launch realsense2_camera rs_launch.py align_depth:=true
+#
 #   $ ros2 launch rtabmap_ros realsense_d400.launch.py
+#   OR
+#   $ ros2 launch rtabmap_ros rtabmap.launch.py frame_id:=camera_link args:="-d" rgb_topic:=/camera/color/image_raw depth_topic:=/camera/aligned_depth_to_color/image_raw camera_info_topic:=/camera/color/camera_info approx_sync:=false
 
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument, SetEnvironmentVariable
@@ -22,8 +25,6 @@ def generate_launch_description():
           ('depth/image', '/camera/aligned_depth_to_color/image_raw')]
 
     return LaunchDescription([
-        # Set env var to print messages to stdout immediately
-        SetEnvironmentVariable('RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED', '1'),
 
         # Nodes to launch
         Node(

launch/ros2/rtabmap.launch.py

@@ -4,6 +4,7 @@ from launch.actions import DeclareLaunchArgument, SetEnvironmentVariable, LogInf
 from launch.substitutions import LaunchConfiguration, ThisLaunchFileDir, PythonExpression
 from launch.conditions import IfCondition, UnlessCondition
 from launch_ros.actions import Node
+from launch_ros.actions import SetParameter
 from typing import Text
 
 #Based on https://answers.ros.org/question/363763/ros2-how-best-to-conditionally-include-a-prefix-in-a-launchpy-file/
@@ -14,7 +15,7 @@ class ConditionalText(Substitution):
         self.condition = condition
 
     def perform(self, context: 'LaunchContext') -> Text:
-        if self.condition:
+        if self.condition == True or self.condition == 'true' or self.condition == 'True':
             return self.text_if
         else:
             return self.text_else
@@ -38,11 +39,14 @@ def launch_setup(context, *args, **kwargs):
         DeclareLaunchArgument('subscribe_rgb', default_value=LaunchConfiguration('depth'), description=''),
         
         #These arguments should not be modified directly, see referred topics without "_relay" suffix above
-        DeclareLaunchArgument('rgb_topic_relay',      default_value=ConditionalText(''.join([LaunchConfiguration('rgb_topic').perform(context), "_relay"]), LaunchConfiguration('rgb_topic').perform(context), LaunchConfiguration('compressed')), description='Should not be modified manually!'),
-        DeclareLaunchArgument('depth_topic_relay',      default_value=ConditionalText(''.join([LaunchConfiguration('depth_topic').perform(context), "_relay"]), LaunchConfiguration('depth_topic').perform(context), LaunchConfiguration('compressed')), description='Should not be modified manually!'),
-        DeclareLaunchArgument('left_image_topic_relay',      default_value=ConditionalText(''.join([LaunchConfiguration('left_image_topic').perform(context), "_relay"]), LaunchConfiguration('left_image_topic').perform(context), LaunchConfiguration('compressed')), description='Should not be modified manually!'),
-        DeclareLaunchArgument('right_image_topic_relay',      default_value=ConditionalText(''.join([LaunchConfiguration('right_image_topic').perform(context), "_relay"]), LaunchConfiguration('right_image_topic'), LaunchConfiguration('compressed')), description='Should not be modified manually!'),
-        DeclareLaunchArgument('rgbd_topic_relay',      default_value=ConditionalText(LaunchConfiguration('rgbd_topic').perform(context), ''.join([LaunchConfiguration('rgbd_topic').perform(context), "_relay"]), LaunchConfiguration('rgbd_sync')), description='Should not be modified manually!'),
+        DeclareLaunchArgument('rgb_topic_relay',      default_value=ConditionalText(''.join([LaunchConfiguration('rgb_topic').perform(context), "_relay"]), ''.join(LaunchConfiguration('rgb_topic').perform(context)), LaunchConfiguration('compressed').perform(context)), description='Should not be modified manually!'),
+        DeclareLaunchArgument('depth_topic_relay',      default_value=ConditionalText(''.join([LaunchConfiguration('depth_topic').perform(context), "_relay"]), ''.join(LaunchConfiguration('depth_topic').perform(context)), LaunchConfiguration('compressed').perform(context)), description='Should not be modified manually!'),
+        DeclareLaunchArgument('left_image_topic_relay',      default_value=ConditionalText(''.join([LaunchConfiguration('left_image_topic').perform(context), "_relay"]), ''.join(LaunchConfiguration('left_image_topic').perform(context)), LaunchConfiguration('compressed').perform(context)), description='Should not be modified manually!'),
+        DeclareLaunchArgument('right_image_topic_relay',      default_value=ConditionalText(''.join([LaunchConfiguration('right_image_topic').perform(context), "_relay"]), ''.join(LaunchConfiguration('right_image_topic').perform(context)), LaunchConfiguration('compressed').perform(context)), description='Should not be modified manually!'),
+        DeclareLaunchArgument('rgbd_topic_relay',      default_value=ConditionalText(''.join(LaunchConfiguration('rgbd_topic').perform(context)), ''.join([LaunchConfiguration('rgbd_topic').perform(context), "_relay"]), LaunchConfiguration('rgbd_sync').perform(context)), description='Should not be modified manually!'),
+    
+        SetParameter(name='use_sim_time', value=LaunchConfiguration('use_sim_time')),
+        # 'use_sim_time' will be set on all nodes following the line above
     
         # Relays RGB-Depth
         Node(
@@ -299,8 +303,6 @@ def launch_setup(context, *args, **kwargs):
 
 def generate_launch_description():
     return LaunchDescription([
-        # Set env var to print messages to stdout immediately
-        SetEnvironmentVariable('RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED', '1'),
         
         # Arguments
         DeclareLaunchArgument('stereo', default_value='false', description='Use stereo input instead of RGB-D.'),
@@ -308,13 +310,15 @@ def generate_launch_description():
         DeclareLaunchArgument('localization', default_value='false', description='Launch in localization mode.'),
         DeclareLaunchArgument('rtabmapviz',   default_value='true',  description='Launch RTAB-Map UI (optional).'),
         
+        DeclareLaunchArgument('use_sim_time', default_value='false', description='Use simulation (Gazebo) clock if true'),
+        
         # Config files
         DeclareLaunchArgument('cfg',     default_value='',                        description='To change RTAB-Map\'s parameters, set the path of config file (*.ini) generated by the standalone app.'),
         DeclareLaunchArgument('gui_cfg', default_value='~/.ros/rtabmap_gui.ini',  description='Configuration path of rtabmapviz.'),
         
         DeclareLaunchArgument('frame_id',       default_value='base_link',          description='Fixed frame id of the robot (base frame), you may set "base_link" or "base_footprint" if they are published. For camera-only config, this could be "camera_link".'),
         DeclareLaunchArgument('odom_frame_id',  default_value='',                   description='If set, TF is used to get odometry instead of the topic.'),
-        DeclareLaunchArgument('map_frame_id',   default_value='',                   description='Output map frame id (TF).'),
+        DeclareLaunchArgument('map_frame_id',   default_value='map',                description='Output map frame id (TF).'),
         DeclareLaunchArgument('publish_tf_map', default_value='true',               description='Publish TF between map and odomerty.'),
         DeclareLaunchArgument('namespace',      default_value='rtabmap',            description=''),
         DeclareLaunchArgument('database_path',  default_value='~/.ros/rtabmap.db',  description='Where is the map saved/loaded.'),
@@ -349,9 +353,9 @@ def generate_launch_description():
         DeclareLaunchArgument('depth_scale',      default_value='1.0',        description=''),
         
         # Image topic compression
-        DeclareLaunchArgument('compressed',      default_value='false', description='If you want to subscribe to compressed image topics'),
-        DeclareLaunchArgument('rgb_image_transport',      default_value='compressed', description='Common types: compressed, theora (see "rosrun image_transport list_transports")'),
-        DeclareLaunchArgument('depth_image_transport',      default_value='compressedDepth', description='Depth compatible types: compressedDepth (see "rosrun image_transport list_transports")'),
+        DeclareLaunchArgument('compressed',            default_value='false', description='If you want to subscribe to compressed image topics'),
+        DeclareLaunchArgument('rgb_image_transport',   default_value='compressed', description='Common types: compressed, theora (see "rosrun image_transport list_transports")'),
+        DeclareLaunchArgument('depth_image_transport', default_value='compressedDepth', description='Depth compatible types: compressedDepth (see "rosrun image_transport list_transports")'),
        
         # LiDAR
         DeclareLaunchArgument('subscribe_scan',       default_value='false',       description=''),

launch/ros2/turtlebot3_rgbd.launch.py

@@ -3,7 +3,10 @@
 #   Install https://github.com/mlherd/ros2_turtlebot3_waffle_intel_realsense
 # Example:
 #   $ ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py
+#
 #   $ ros2 launch rtabmap_ros turtlebot3_rgbd.launch.py
+#   OR
+#   $ ros2 launch rtabmap_ros rtabmap.launch.py visual_odometry:=false frame_id:=base_footprint odom_topic:=/odom args:="-d" use_sim_time:=true rgb_topic:=/intel_realsense_r200_depth/image_raw depth_topic:=/intel_realsense_r200_depth/depth/image_raw camera_info_topic:=/intel_realsense_r200_depth/camera_info approx_sync:=true
 
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument, SetEnvironmentVariable
@@ -25,8 +28,6 @@ def generate_launch_description():
           ('depth/image', '/intel_realsense_r200_depth/depth/image_raw')]
 
     return LaunchDescription([
-        # Set env var to print messages to stdout immediately
-        SetEnvironmentVariable('RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED', '1'),
 
         # Launch arguments
         DeclareLaunchArgument(

launch/ros2/turtlebot3_rgbd_sync.launch.py

@@ -3,7 +3,10 @@
 #   Install https://github.com/mlherd/ros2_turtlebot3_waffle_intel_realsense
 # Example:
 #   $ ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py
+#
 #   $ ros2 launch rtabmap_ros turtlebot3_rgbd_sync.launch.py
+#   OR
+#   $ ros2 launch rtabmap_ros rtabmap.launch.py visual_odometry:=false frame_id:=base_footprint subscribe_scan:=true  approx_sync:=true odom_topic:=/odom args:="-d" use_sim_time:=true rgbd_sync:=true rgb_topic:=/intel_realsense_r200_depth/image_raw depth_topic:=/intel_realsense_r200_depth/depth/image_raw camera_info_topic:=/intel_realsense_r200_depth/camera_info
 
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument, SetEnvironmentVariable
@@ -27,8 +30,6 @@ def generate_launch_description():
           ('depth/image', '/intel_realsense_r200_depth/depth/image_raw')]
 
     return LaunchDescription([
-        # Set env var to print messages to stdout immediately
-        SetEnvironmentVariable('RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED', '1'),
 
         # Launch arguments
         DeclareLaunchArgument(

launch/ros2/turtlebot3_scan.launch.py

@@ -2,7 +2,10 @@
 #   Install Turtlebot3 packages
 # Example:
 #   $ ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py
+#
 #   $ ros2 launch rtabmap_ros turtlebot3_scan.launch.py
+#   OR
+#   $ ros2 launch rtabmap_ros rtabmap.launch.py visual_odometry:=false frame_id:=base_footprint subscribe_scan:=true depth:=false approx_sync:=true odom_topic:=/odom args:="-d" use_sim_time:=true
 
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument, SetEnvironmentVariable
@@ -27,8 +30,6 @@ def generate_launch_description():
           ('scan', '/scan')]
 
     return LaunchDescription([
-        # Set env var to print messages to stdout immediately
-        SetEnvironmentVariable('RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED', '1'),
 
         # Launch arguments
         DeclareLaunchArgument(

src/impl/CommonDataSubscriberDepth.cpp

@@ -341,7 +341,7 @@ void CommonDataSubscriber::setupDepthCallbacks(
 	imageSub_.subscribe(&node, "rgb/image", hints.getTransport(), rmw_qos_profile_sensor_data);
 	imageDepthSub_.subscribe(&node, "depth/image", hints.getTransport(), rmw_qos_profile_sensor_data);
 	cameraInfoSub_.subscribe(&node, "rgb/camera_info", rmw_qos_profile_sensor_data);
-
+	
 	if(subscribeOdom && subscribeUserData)
 	{
 		odomSub_.subscribe(&node, "odom", rmw_qos_profile_sensor_data);

src/nodelets/rgbd_odometry.cpp

@@ -128,8 +128,8 @@ void RGBDOdometry::onOdomInit()
 				subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync):\n   %s,\n   %s",
 						get_name(),
 						approxSync?"approx":"exact",
-						rgbd_image1_sub_.getTopic().c_str(),
-						rgbd_image2_sub_.getTopic().c_str());
+						rgbd_image1_sub_.getSubscriber()->get_topic_name(),
+						rgbd_image2_sub_.getSubscriber()->get_topic_name());
 			}
 			else if(rgbdCameras == 3)
 			{
@@ -154,9 +154,9 @@ void RGBDOdometry::onOdomInit()
 				subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync):\n   %s,\n   %s,\n   %s",
 						get_name(),
 						approxSync?"approx":"exact",
-						rgbd_image1_sub_.getTopic().c_str(),
-						rgbd_image2_sub_.getTopic().c_str(),
-						rgbd_image3_sub_.getTopic().c_str());
+						rgbd_image1_sub_.getSubscriber()->get_topic_name(),
+						rgbd_image2_sub_.getSubscriber()->get_topic_name(),
+						rgbd_image3_sub_.getSubscriber()->get_topic_name());
 			}
 			else if(rgbdCameras == 4)
 			{
@@ -183,10 +183,10 @@ void RGBDOdometry::onOdomInit()
 				subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync):\n   %s,\n   %s,\n   %s,\n   %s",
 						get_name(),
 						approxSync?"approx":"exact",
-						rgbd_image1_sub_.getTopic().c_str(),
-						rgbd_image2_sub_.getTopic().c_str(),
-						rgbd_image3_sub_.getTopic().c_str(),
-						rgbd_image4_sub_.getTopic().c_str());
+						rgbd_image1_sub_.getSubscriber()->get_topic_name(),
+						rgbd_image2_sub_.getSubscriber()->get_topic_name(),
+						rgbd_image3_sub_.getSubscriber()->get_topic_name(),
+						rgbd_image4_sub_.getSubscriber()->get_topic_name());
 			}
 		}
 		else
@@ -220,9 +220,9 @@ void RGBDOdometry::onOdomInit()
 		subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync):\n   %s,\n   %s,\n   %s",
 				get_name(),
 				approxSync?"approx":"exact",
-				image_mono_sub_.getTopic().c_str(),
-				image_depth_sub_.getTopic().c_str(),
-				info_sub_.getTopic().c_str());
+				image_mono_sub_.getSubscriber().getTopic().c_str(),
+				image_depth_sub_.getSubscriber().getTopic().c_str(),
+				info_sub_.getSubscriber()->get_topic_name());
 	}
 	this->startWarningThread(subscribedTopicsMsg, approxSync);
 }

src/nodelets/rgbd_sync.cpp

@@ -82,9 +82,9 @@ RGBDSync::RGBDSync(const rclcpp::NodeOptions & options) :
 	subscribedTopicsMsg_ = uFormat("\n%s subscribed to (%s sync):\n   %s,\n   %s,\n   %s",
 						get_name(),
 						approxSync?"approx":"exact",
-						imageSub_.getTopic().c_str(),
-						imageDepthSub_.getTopic().c_str(),
-						cameraInfoSub_.getTopic().c_str());
+						imageSub_.getSubscriber().getTopic().c_str(),
+						imageDepthSub_.getSubscriber().getTopic().c_str(),
+						cameraInfoSub_.getSubscriber()->get_topic_name());
 
 	RCLCPP_INFO(this->get_logger(), "%s", subscribedTopicsMsg_.c_str());
 

src/nodelets/rgbdicp_odometry.cpp

@@ -162,10 +162,10 @@ private:
 			subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync):\n   %s,\n   %s,\n   %s, \n   %s",
 					getName().c_str(),
 					approxSync?"approx":"exact",
-					image_mono_sub_.getTopic().c_str(),
-					image_depth_sub_.getTopic().c_str(),
-					info_sub_.getTopic().c_str(),
-					cloud_sub_.getTopic().c_str());
+					image_mono_sub_.getSubscriber().getTopic().c_str(),
+					image_depth_sub_.getSubscriber().getTopic().c_str(),
+					info_sub_.getSubscriber()->get_topic_name(),
+					cloud_sub_.getSubscriber()->get_topic_name());
 		}
 		else
 		{
@@ -184,10 +184,10 @@ private:
 			subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync):\n   %s,\n   %s,\n   %s, \n   %s",
 					getName().c_str(),
 					approxSync?"approx":"exact",
-					image_mono_sub_.getTopic().c_str(),
-					image_depth_sub_.getTopic().c_str(),
-					info_sub_.getTopic().c_str(),
-					scan_sub_.getTopic().c_str());
+					image_mono_sub_.getSubscriber().getTopic().c_str(),
+					image_depth_sub_.getSubscriber().getTopic().c_str(),
+					info_sub_.getSubscriber()->get_topic_name(),
+					scan_sub_.getSubscriber()->get_topic_name());
 		}
 		this->startWarningThread(subscribedTopicsMsg, approxSync);
 	}

src/nodelets/stereo_odometry.cpp

@@ -103,10 +103,10 @@ void StereoOdometry::onOdomInit()
 		subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync):\n   %s,\n   %s,\n   %s,\n   %s",
 				get_name(),
 				approxSync?"approx":"exact",
-				imageRectLeft_.getTopic().c_str(),
-				imageRectRight_.getTopic().c_str(),
-				cameraInfoLeft_.getTopic().c_str(),
-				cameraInfoRight_.getTopic().c_str());
+				imageRectLeft_.getSubscriber().getTopic().c_str(),
+				imageRectRight_.getSubscriber().getTopic().c_str(),
+				cameraInfoLeft_.getSubscriber()->get_topic_name(),
+				cameraInfoRight_.getSubscriber()->get_topic_name());
 	}
 
 	this->startWarningThread(subscribedTopicsMsg, approxSync);

src/nodelets/stereo_sync.cpp

@@ -81,10 +81,10 @@ StereoSync::StereoSync(const rclcpp::NodeOptions & options) :
 	subscribedTopicsMsg_ = uFormat("\n%s subscribed to (%s sync):\n   %s,\n   %s,\n   %s,\n   %s",
 						get_name(),
 						approxSync?"approx":"exact",
-						imageLeftSub_.getTopic().c_str(),
-						imageRightSub_.getTopic().c_str(),
-						cameraInfoLeftSub_.getTopic().c_str(),
-						cameraInfoRightSub_.getTopic().c_str());
+						imageLeftSub_.getSubscriber().getTopic().c_str(),
+						imageRightSub_.getSubscriber().getTopic().c_str(),
+						cameraInfoLeftSub_.getSubscriber()->get_topic_name(),
+						cameraInfoRightSub_.getSubscriber()->get_topic_name());
 
 	RCLCPP_INFO(this->get_logger(), "%s", subscribedTopicsMsg_.c_str());