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merged master->ros2

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matlabbe
2024-06-12 22:51:30 -07:00
parent 911e4e8941 ae44e1a215
commit d3d874c862
35 changed files with 857 additions and 771 deletions
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rtabmap_slam/src/CoreWrapper.cpp
+1 -1
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@@ -746,7 +746,7 @@ CoreWrapper::CoreWrapper(const rclcpp::NodeOptions & options) :
}
auto node = rclcpp::Node::make_shared("rtabmap");
image_transport::TransportHints hints(this);
defaultSub_ = image_transport::create_subscription(node.get(), "image", std::bind(&CoreWrapper::defaultCallback, this, std::placeholders::_1), hints.getTransport(), rclcpp::QoS(queueSize_).reliability((rmw_qos_reliability_policy_t)qosImage_).get_rmw_qos_profile());
defaultSub_ = image_transport::create_subscription(node.get(), "image", std::bind(&CoreWrapper::defaultCallback, this, std::placeholders::_1), hints.getTransport(), rclcpp::QoS(this->getTopicQueueSize()).reliability((rmw_qos_reliability_policy_t)qosImage_).get_rmw_qos_profile());
RCLCPP_INFO(this->get_logger(), "\n%s subscribed to:\n %s", get_name(), defaultSub_.getTopic().c_str());