i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-10 03:29:49 +08:00
Code Issues Packages Projects Releases Wiki Activity

Resolving image_transport hints support (#1181) (#1348)

Browse Source 
* Resolving image_transport hints support (#1181)

* updated dev container to be able to install packages, updated comment
This commit is contained in:
matlabbe
2025-08-09 15:05:08 -07:00
committed by GitHub
parent e37f95d1f9
commit d23e3eef01
16 changed files with 111 additions and 49 deletions
Download Patch File Download Diff File Expand all files Collapse all files
rtabmap_sync/src/CommonDataSubscriber.cpp
+6
View File
@@ -47,6 +47,8 @@ CommonDataSubscriber::CommonDataSubscriber(rclcpp::Node & node, bool gui) :
subscribedToUserData_(false),
odomFrameId_(""),
rgbdCameras_(1),
imageTransport_("raw"),
depthTransport_("raw"),
// RGB + Depth
SYNC_INIT(depth),
@@ -392,6 +394,8 @@ CommonDataSubscriber::CommonDataSubscriber(rclcpp::Node & node, bool gui) :
"\"sync_queue_size\".", syncQueueSize_);
}
syncQueueSize_ = node.declare_parameter("sync_queue_size", syncQueueSize_);
imageTransport_ = node.declare_parameter("image_transport", imageTransport_);
depthTransport_ = node.declare_parameter("depth_transport", depthTransport_);
int qos = node.declare_parameter("qos", (int)RMW_QOS_POLICY_RELIABILITY_SYSTEM_DEFAULT);
int qosOdom = node.declare_parameter("qos_odom", qos);
@@ -540,6 +544,8 @@ void CommonDataSubscriber::setupCallbacks(
RCLCPP_INFO(node.get_logger(), "%s: qos_odom = %d", name_.c_str(), qosOdom_);
RCLCPP_INFO(node.get_logger(), "%s: qos_user_data = %d", name_.c_str(), qosUserData_);
RCLCPP_INFO(node.get_logger(), "%s: approx_sync = %s", name_.c_str(), approxSync_?"true":"false");
RCLCPP_INFO(node.get_logger(), "%s: image_transport = %s", name_.c_str(), imageTransport_.c_str());
RCLCPP_INFO(node.get_logger(), "%s: depth_transport = %s", name_.c_str(), depthTransport_.c_str());
rclcpp::SubscriptionOptions callbackOptions;
callbackOptions.callback_group = syncCallbackGroup_;
rtabmap_sync/src/impl/CommonDataSubscriberDepth.cpp
+6 -3
View File
@@ -503,9 +503,12 @@ void CommonDataSubscriber::setupDepthCallbacks(
{
RCLCPP_INFO(node.get_logger(), "Setup depth callback");
image_transport::TransportHints hints(&node);
imageSub_.subscribe(&node, "rgb/image", hints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability(qosImage_).get_rmw_qos_profile(), options);
imageDepthSub_.subscribe(&node, "depth/image", hints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability(qosImage_).get_rmw_qos_profile(), options);
image_transport::TransportHints rgbHints(&node); // using "image_transport" parameter
image_transport::TransportHints depthHints(&node, "raw", "depth_transport");
std::string rgbTopic = node.get_node_topics_interface()->resolve_topic_name("rgb/image"); // Humble/Jazzy don't resolve base topic, fixed by https://github.com/ros-perception/image_common/commit/ea7589ae8c1f7ecb83d6aab7b4c890c2d630d27a
std::string depthTopic = node.get_node_topics_interface()->resolve_topic_name("depth/image"); // Humble/Jazzy don't resolve base topic, fixed by https://github.com/ros-perception/image_common/commit/ea7589ae8c1f7ecb83d6aab7b4c890c2d630d27a
imageSub_.subscribe(&node, rgbTopic, rgbHints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability(qosImage_).get_rmw_qos_profile(), options);
imageDepthSub_.subscribe(&node, depthTopic, depthHints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability(qosImage_).get_rmw_qos_profile(), options);
cameraInfoSub_.subscribe(&node, "rgb/camera_info", RCLCPP_QOS(topicQueueSize_, qosCameraInfo_), options);
#ifdef RTABMAP_SYNC_USER_DATA
rtabmap_sync/src/impl/CommonDataSubscriberRGB.cpp
+3 -2
View File
@@ -503,8 +503,9 @@ void CommonDataSubscriber::setupRGBCallbacks(
{
RCLCPP_INFO(node.get_logger(), "Setup rgb-only callback");
image_transport::TransportHints hints(&node);
imageSub_.subscribe(&node, "rgb/image", hints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability(qosImage_).get_rmw_qos_profile(), options);
image_transport::TransportHints hints(&node); // using "image_transport" parameter
std::string rgbTopic = node.get_node_topics_interface()->resolve_topic_name("rgb/image"); // Humble/Jazzy don't resolve base topic, fixed by https://github.com/ros-perception/image_common/commit/ea7589ae8c1f7ecb83d6aab7b4c890c2d630d27a
imageSub_.subscribe(&node, rgbTopic, hints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability(qosImage_).get_rmw_qos_profile(), options);
cameraInfoSub_.subscribe(&node, "rgb/camera_info", RCLCPP_QOS(topicQueueSize_, qosCameraInfo_), options);
#ifdef RTABMAP_SYNC_USER_DATA
rtabmap_sync/src/impl/CommonDataSubscriberStereo.cpp
+5 -3
View File
@@ -97,9 +97,11 @@ void CommonDataSubscriber::setupStereoCallbacks(
{
RCLCPP_INFO(node.get_logger(), "Setup stereo callback");
image_transport::TransportHints hints(&node);
imageRectLeft_.subscribe(&node, "left/image_rect", hints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability(qosImage_).get_rmw_qos_profile(), options);
imageRectRight_.subscribe(&node, "right/image_rect", hints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability(qosImage_).get_rmw_qos_profile(), options);
image_transport::TransportHints hints(&node); // using "image_transport" parameter
std::string leftTopic = node.get_node_topics_interface()->resolve_topic_name("left/image_rect"); // Humble/Jazzy don't resolve base topic, fixed by https://github.com/ros-perception/image_common/commit/ea7589ae8c1f7ecb83d6aab7b4c890c2d630d27a
std::string rightTopic = node.get_node_topics_interface()->resolve_topic_name("right/image_rect"); // Humble/Jazzy don't resolve base topic, fixed by https://github.com/ros-perception/image_common/commit/ea7589ae8c1f7ecb83d6aab7b4c890c2d630d27a
imageRectLeft_.subscribe(&node, leftTopic, hints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability(qosImage_).get_rmw_qos_profile(), options);
imageRectRight_.subscribe(&node, rightTopic, hints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability(qosImage_).get_rmw_qos_profile(), options);
cameraInfoLeft_.subscribe(&node, "left/camera_info", RCLCPP_QOS(topicQueueSize_, qosCameraInfo_), options);
cameraInfoRight_.subscribe(&node, "right/camera_info", RCLCPP_QOS(topicQueueSize_, qosCameraInfo_), options);
rtabmap_sync/src/nodelets/rgb_sync.cpp
+5 -2
View File
@@ -72,6 +72,7 @@ RGBSync::RGBSync(const rclcpp::NodeOptions & options) :
qos = this->declare_parameter("qos", qos);
int qosCaminfo = this->declare_parameter("qos_camera_info", qos);
compressedRate_ = this->declare_parameter("compressed_rate", compressedRate_);
std::string imageTransport = this->declare_parameter("image_transport", std::string("raw"));
RCLCPP_INFO(this->get_logger(), "%s: approx_sync = %s", get_name(), approxSync?"true":"false");
if(approxSync)
@@ -81,6 +82,7 @@ RGBSync::RGBSync(const rclcpp::NodeOptions & options) :
RCLCPP_INFO(this->get_logger(), "%s: qos = %d", get_name(), qos);
RCLCPP_INFO(this->get_logger(), "%s: qos_camera_info = %d", get_name(), qosCaminfo);
RCLCPP_INFO(this->get_logger(), "%s: compressed_rate = %f", get_name(), compressedRate_);
RCLCPP_INFO(this->get_logger(), "%s: image_transport = %s", get_name(), imageTransport.c_str());
rgbdImagePub_ = this->create_publisher<rtabmap_msgs::msg::RGBDImage>("rgbd_image", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos));
rgbdImageCompressedPub_ = this->create_publisher<rtabmap_msgs::msg::RGBDImage>("rgbd_image/compressed", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos));
@@ -98,8 +100,9 @@ RGBSync::RGBSync(const rclcpp::NodeOptions & options) :
exactSync_->registerCallback(std::bind(&RGBSync::callback, this, std::placeholders::_1, std::placeholders::_2));
}
image_transport::TransportHints hints(this);
imageSub_.subscribe(this, "rgb/image", hints.getTransport(), rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
image_transport::TransportHints hints(this); // using "image_transport" parameter
std::string rgbTopic = this->get_node_topics_interface()->resolve_topic_name("rgb/image"); // Humble/Jazzy don't resolve base topic, fixed by https://github.com/ros-perception/image_common/commit/ea7589ae8c1f7ecb83d6aab7b4c890c2d630d27a
imageSub_.subscribe(this, rgbTopic, hints.getTransport(), rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
cameraInfoSub_.subscribe(this, "rgb/camera_info", RCLCPP_QOS(topicQueueSize, qosCaminfo));
std::string subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync%s):\n %s,\n %s",
rtabmap_sync/src/nodelets/rgbd_sync.cpp
+24 -6
View File
@@ -76,6 +76,22 @@ RGBDSync::RGBDSync(const rclcpp::NodeOptions & options) :
depthScale_ = this->declare_parameter("depth_scale", depthScale_);
decimation_ = this->declare_parameter("decimation", decimation_);
compressedRate_ = this->declare_parameter("compressed_rate", compressedRate_);
std::string rgbImageTransport = this->declare_parameter<std::string>("rgb_image_transport", std::string("raw"));
std::string depthImageTransport = this->declare_parameter<std::string>("depth_image_transport", std::string("raw"));
if(rgbImageTransport != "raw") {
RCLCPP_WARN(this->get_logger(), "Parameter \"rgb_image_transport\" has been renamed "
"to \"image_transport\" and will be removed "
"in future versions! The value (%s) is copied to "
"\"image_transport\".", rgbImageTransport.c_str());
}
if(depthImageTransport != "raw") {
RCLCPP_WARN(this->get_logger(), "Parameter \"depth_image_transport\" has been renamed "
"to \"depth_transport\" and will be removed "
"in future versions! The value (%s) is copied to "
"\"depth_transport\".", depthImageTransport.c_str());
}
std::string imageTransport = this->declare_parameter("image_transport", rgbImageTransport);
std::string depthTransport = this->declare_parameter("depth_transport", depthImageTransport);
if(decimation_<1)
{
@@ -92,6 +108,8 @@ RGBDSync::RGBDSync(const rclcpp::NodeOptions & options) :
RCLCPP_INFO(this->get_logger(), "%s: depth_scale = %f", get_name(), depthScale_);
RCLCPP_INFO(this->get_logger(), "%s: decimation = %d", get_name(), decimation_);
RCLCPP_INFO(this->get_logger(), "%s: compressed_rate = %f", get_name(), compressedRate_);
RCLCPP_INFO(this->get_logger(), "%s: image_transport = %s", get_name(), imageTransport.c_str());
RCLCPP_INFO(this->get_logger(), "%s: depth_transport = %s", get_name(), depthTransport.c_str());
rgbdImagePub_ = this->create_publisher<rtabmap_msgs::msg::RGBDImage>("rgbd_image", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos));
rgbdImageCompressedPub_ = this->create_publisher<rtabmap_msgs::msg::RGBDImage>("rgbd_image/compressed", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos));
@@ -109,12 +127,12 @@ RGBDSync::RGBDSync(const rclcpp::NodeOptions & options) :
exactSyncDepth_->registerCallback(std::bind(&RGBDSync::callback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
}
std::string rgbImageTransport = this->declare_parameter<std::string>("rgb_image_transport", "raw");
std::string depthImageTransport = this->declare_parameter<std::string>("depth_image_transport", "raw");
std::string rgbTopic = this->get_node_topics_interface()->resolve_topic_name("rgb/image"); // Humble doesn't resolve base topic, fixed by https://github.com/ros-perception/image_common/commit/ea7589ae8c1f7ecb83d6aab7b4c890c2d630d27a
std::string depthTopic = this->get_node_topics_interface()->resolve_topic_name("depth/image"); // Humble doesn't resolve base topic, fixed by https://github.com/ros-perception/image_common/commit/ea7589ae8c1f7ecb83d6aab7b4c890c2d630d27a
imageSub_.subscribe(this, rgbTopic, rgbImageTransport, rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
imageDepthSub_.subscribe(this, depthTopic, depthImageTransport, rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
image_transport::TransportHints rgbHints(this); // using "image_transport" parameter
image_transport::TransportHints depthHints(this, "raw", "depth_transport");
std::string rgbTopic = this->get_node_topics_interface()->resolve_topic_name("rgb/image"); // Humble/Jazzy don't resolve base topic, fixed by https://github.com/ros-perception/image_common/commit/ea7589ae8c1f7ecb83d6aab7b4c890c2d630d27a
std::string depthTopic = this->get_node_topics_interface()->resolve_topic_name("depth/image"); // Humble/Jazzy doesn't resolve base topic, fixed by https://github.com/ros-perception/image_common/commit/ea7589ae8c1f7ecb83d6aab7b4c890c2d630d27a
imageSub_.subscribe(this, rgbTopic, rgbHints.getTransport(), rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
imageDepthSub_.subscribe(this, depthTopic, depthHints.getTransport(), rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
cameraInfoSub_.subscribe(this, "rgb/camera_info", RCLCPP_QOS(topicQueueSize, qosCamInfo));
std::string subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync%s):\n %s,\n %s,\n %s",
rtabmap_sync/src/nodelets/stereo_sync.cpp
+7 -3
View File
@@ -71,6 +71,7 @@ StereoSync::StereoSync(const rclcpp::NodeOptions & options) :
qos = this->declare_parameter("qos", qos);
int qosCamInfo = this->declare_parameter("qos_camera_info", qos);
compressedRate_ = this->declare_parameter("compressed_rate", compressedRate_);
std::string imageTransport = this->declare_parameter("image_transport", std::string("raw"));
RCLCPP_INFO(this->get_logger(), "%s: approx_sync = %s", get_name(), approxSync?"true":"false");
RCLCPP_INFO(this->get_logger(), "%s: approx_sync_max_interval = %f", get_name(), approxSyncMaxInterval);
@@ -79,6 +80,7 @@ StereoSync::StereoSync(const rclcpp::NodeOptions & options) :
RCLCPP_INFO(this->get_logger(), "%s: qos = %d", get_name(), qos);
RCLCPP_INFO(this->get_logger(), "%s: qos_camera_info = %d", get_name(), qosCamInfo);
RCLCPP_INFO(this->get_logger(), "%s: compressed_rate = %f", get_name(), compressedRate_);
RCLCPP_INFO(this->get_logger(), "%s: image_transport = %s", get_name(), imageTransport.c_str());
rgbdImagePub_ = create_publisher<rtabmap_msgs::msg::RGBDImage>("rgbd_image", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos));
rgbdImageCompressedPub_ = create_publisher<rtabmap_msgs::msg::RGBDImage>("rgbd_image/compressed", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos));
@@ -96,9 +98,11 @@ StereoSync::StereoSync(const rclcpp::NodeOptions & options) :
exactSync_->registerCallback(std::bind(&StereoSync::callback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3, std::placeholders::_4));
}
image_transport::TransportHints hints(this);
imageLeftSub_.subscribe(this, "left/image_rect", hints.getTransport(), rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
imageRightSub_.subscribe(this, "right/image_rect", hints.getTransport(), rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
image_transport::TransportHints hints(this); // using "image_transport" parameter
std::string leftTopic = this->get_node_topics_interface()->resolve_topic_name("left/image_rect"); // Humble/Jazzy don't resolve base topic, fixed by https://github.com/ros-perception/image_common/commit/ea7589ae8c1f7ecb83d6aab7b4c890c2d630d27a
std::string rightTopic = this->get_node_topics_interface()->resolve_topic_name("right/image_rect"); // Humble/Jazzy don't resolve base topic, fixed by https://github.com/ros-perception/image_common/commit/ea7589ae8c1f7ecb83d6aab7b4c890c2d630d27a
imageLeftSub_.subscribe(this, leftTopic, hints.getTransport(), rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
imageRightSub_.subscribe(this, rightTopic, hints.getTransport(), rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
cameraInfoLeftSub_.subscribe(this, "left/camera_info", RCLCPP_QOS(topicQueueSize, qosCamInfo));
cameraInfoRightSub_.subscribe(this, "right/camera_info", RCLCPP_QOS(topicQueueSize, qosCamInfo));