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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/src/impl/CommonDataSubscriberOdom.cpp
+9 -11
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@@ -66,29 +66,27 @@ void CommonDataSubscriber::odomDataInfoCallback(
void CommonDataSubscriber::setupOdomCallbacks(
rclcpp::Node& node,
bool subscribeUserData,
bool subscribeOdomInfo,
int queueSize,
bool approxSync)
bool subscribeOdomInfo)
{
RCLCPP_INFO(node.get_logger(), "Setup scan callback");
if(subscribeUserData || subscribeOdomInfo)
{
odomSub_.subscribe(&node, "odom", rclcpp::QoS(1).reliability(qosOdom_).get_rmw_qos_profile());
odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile());
#ifdef RTABMAP_SYNC_USER_DATA
if(subscribeUserData)
{
userDataSub_.subscribe(&node, "user_data", rclcpp::QoS(1).reliability(qosUserData_).get_rmw_qos_profile());
userDataSub_.subscribe(&node, "user_data", rclcpp::QoS(topicQueueSize_).reliability(qosUserData_).get_rmw_qos_profile());
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(1).reliability(qosOdom_).get_rmw_qos_profile());
SYNC_DECL3(CommonDataSubscriber, odomDataInfo, approxSync, queueSize, odomSub_, userDataSub_, odomInfoSub_);
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile());
SYNC_DECL3(CommonDataSubscriber, odomDataInfo, approxSync_, syncQueueSize_, odomSub_, userDataSub_, odomInfoSub_);
}
else
{
SYNC_DECL2(CommonDataSubscriber, odomData, approxSync, queueSize, odomSub_, userDataSub_);
SYNC_DECL2(CommonDataSubscriber, odomData, approxSync_, syncQueueSize_, odomSub_, userDataSub_);
}
}
else
@@ -96,13 +94,13 @@ void CommonDataSubscriber::setupOdomCallbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(1).reliability(qosOdom_).get_rmw_qos_profile());
SYNC_DECL2(CommonDataSubscriber, odomInfo, approxSync, queueSize, odomSub_, odomInfoSub_);
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile());
SYNC_DECL2(CommonDataSubscriber, odomInfo, approxSync_, syncQueueSize_, odomSub_, odomInfoSub_);
}
}
else
{
odomSubOnly_ = node.create_subscription<nav_msgs::msg::Odometry>("odom", rclcpp::QoS(1).reliability(qosOdom_), std::bind(&CommonDataSubscriber::odomCallback, this, std::placeholders::_1));
odomSubOnly_ = node.create_subscription<nav_msgs::msg::Odometry>("odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_), std::bind(&CommonDataSubscriber::odomCallback, this, std::placeholders::_1));
subscribedTopicsMsg_ =
uFormat("\n%s subscribed to:\n %s",
node.get_name(),