i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-04 08:47:45 +08:00
Code Issues Packages Projects Releases Wiki Activity

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.

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files
src/impl/CommonDataSubscriberDepth.cpp
+1 -1
View File
@@ -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
+12 -12
View File
@@ -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
+3 -3
View File
@@ -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
+8 -8
View File
@@ -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
+4 -4
View File
@@ -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
+4 -4
View File
@@ -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());