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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.

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This commit is contained in:
matlabbe
2021-10-01 18:48:45 -04:00
parent 75ce3a56e7
commit ccf152d877
14 changed files with 132 additions and 89 deletions
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include/rtabmap_ros/CommonDataSubscriberDefines.h
+36 -36
View File
@@ -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
+35
View File
@@ -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_ */