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merged master->ros2

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This commit is contained in:
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_sync/include/rtabmap_sync/CommonDataSubscriber.h
+17 -41
View File
@@ -78,7 +78,8 @@ public:
bool isSubscribedToOdomInfo() const {return subscribedToOdomInfo_;}
bool isDataSubscribed() const {return isSubscribedToDepth() || isSubscribedToStereo() || isSubscribedToRGBD() || isSubscribedToScan2d() || isSubscribedToScan3d() || isSubscribedToRGB() || isSubscribedToOdom() || isSubscribedToSensorData();}
int rgbdCameras() const {return isSubscribedToRGBD()?(int)rgbdSubs_.size():0;}
int getQueueSize() const {return queueSize_;}
int getTopicQueueSize() const {return topicQueueSize_;}
int getSyncQueueSize() const {return syncQueueSize_;}
bool isApproxSync() const {return approxSync_;}
const std::string & name() const {return name_;}
@@ -141,15 +142,11 @@ private:
bool subscribeScan2d,
bool subscribeScan3d,
bool subscribeScanDesc,
bool subscribeOdomInfo,
int queueSize,
bool approxSync);
bool subscribeOdomInfo);
void setupStereoCallbacks(
rclcpp::Node & node,
bool subscribeOdom,
bool subscribeOdomInfo,
int queueSize,
bool approxSync);
bool subscribeOdomInfo);
void setupRGBCallbacks(
rclcpp::Node & node,
bool subscribeOdom,
@@ -157,9 +154,7 @@ private:
bool subscribeScan2d,
bool subscribeScan3d,
bool subscribeScanDesc,
bool subscribeOdomInfo,
int queueSize,
bool approxSync);
bool subscribeOdomInfo);
void setupRGBDCallbacks(
rclcpp::Node & node,
bool subscribeOdom,
@@ -167,9 +162,7 @@ private:
bool subscribeScan2d,
bool subscribeScan3d,
bool subscribeScanDesc,
bool subscribeOdomInfo,
int queueSize,
bool approxSync);
bool subscribeOdomInfo);
void setupRGBDXCallbacks(
rclcpp::Node & node,
bool subscribeOdom,
@@ -177,9 +170,7 @@ private:
bool subscribeScan2d,
bool subscribeScan3d,
bool subscribeScanDesc,
bool subscribeOdomInfo,
int queueSize,
bool approxSync);
bool subscribeOdomInfo);
#ifdef RTABMAP_SYNC_MULTI_RGBD
void setupRGBD2Callbacks(
rclcpp::Node & node,
@@ -188,9 +179,7 @@ private:
bool subscribeScan2d,
bool subscribeScan3d,
bool subscribeScanDesc,
bool subscribeOdomInfo,
int queueSize,
bool approxSync);
bool subscribeOdomInfo);
void setupRGBD3Callbacks(
rclcpp::Node & node,
bool subscribeOdom,
@@ -198,9 +187,7 @@ private:
bool subscribeScan2d,
bool subscribeScan3d,
bool subscribeScanDesc,
bool subscribeOdomInfo,
int queueSize,
bool approxSync);
bool subscribeOdomInfo);
void setupRGBD4Callbacks(
rclcpp::Node & node,
bool subscribeOdom,
@@ -208,9 +195,7 @@ private:
bool subscribeScan2d,
bool subscribeScan3d,
bool subscribeScanDesc,
bool subscribeOdomInfo,
int queueSize,
bool approxSync);
bool subscribeOdomInfo);
void setupRGBD5Callbacks(
rclcpp::Node & node,
bool subscribeOdom,
@@ -218,9 +203,7 @@ private:
bool subscribeScan2d,
bool subscribeScan3d,
bool subscribeScanDesc,
bool subscribeOdomInfo,
int queueSize,
bool approxSync);
bool subscribeOdomInfo);
void setupRGBD6Callbacks(
rclcpp::Node & node,
bool subscribeOdom,
@@ -228,35 +211,28 @@ private:
bool subscribeScan2d,
bool subscribeScan3d,
bool subscribeScanDesc,
bool subscribeOdomInfo,
int queueSize,
bool approxSync);
bool subscribeOdomInfo);
#endif
void setupSensorDataCallbacks(
rclcpp::Node & node,
bool subscribeOdom,
bool subscribeOdomInfo,
int queueSize,
bool approxSync);
bool subscribeOdomInfo);
void setupScanCallbacks(
rclcpp::Node & node,
bool subscribeScan2d,
bool subscribeScanDesc,
bool subscribeOdom,
bool subscribeUserData,
bool subscribeOdomInfo,
int queueSize,
bool approxSync);
bool subscribeOdomInfo);
void setupOdomCallbacks(
rclcpp::Node & node,
bool subscribeUserData,
bool subscribeOdomInfo,
int queueSize,
bool approxSync);
bool subscribeOdomInfo);
protected:
std::string subscribedTopicsMsg_;
int queueSize_;
int topicQueueSize_;
int syncQueueSize_;
rmw_qos_reliability_policy_t qosOdom_;
rmw_qos_reliability_policy_t qosImage_;
rmw_qos_reliability_policy_t qosCameraInfo_;
rtabmap_sync/include/rtabmap_sync/CommonDataSubscriberDefines.h
+1 -1
View File
@@ -181,7 +181,7 @@ 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", \
APPROX?"approx":"exact", \
getTopicName(SUB0.getSubscriber()).c_str(), \
getTopicName(SUB1.getSubscriber()).c_str(), \
getTopicName(SUB2.getSubscriber()).c_str(), \