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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/CommonDataSubscriberSensorData.cpp
+9 -12
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@@ -66,26 +66,23 @@ void CommonDataSubscriber::sensorDataOdomInfoCallback(
void CommonDataSubscriber::setupSensorDataCallbacks(
rclcpp::Node& node,
bool subscribeOdom,
bool subscribeOdomInfo,
int queueSize,
bool approxSync)
bool subscribeOdomInfo)
{
RCLCPP_INFO(node.get_logger(), "Setup SensorData callback");
sensorDataSub_.subscribe(&node, "sensor_data", rclcpp::QoS(1).reliability(qosSensorData_).get_rmw_qos_profile());
sensorDataSub_.subscribe(&node, "sensor_data", rclcpp::QoS(topicQueueSize_).reliability(qosSensorData_).get_rmw_qos_profile());
if(subscribeOdom)
{
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());
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(1).reliability(qosOdom_).get_rmw_qos_profile());
SYNC_DECL3(CommonDataSubscriber, sensorDataOdomInfo, approxSync, queueSize, odomSub_, sensorDataSub_, odomInfoSub_);
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile());
SYNC_DECL3(CommonDataSubscriber, sensorDataOdomInfo, approxSync_, syncQueueSize_, odomSub_, sensorDataSub_, odomInfoSub_);
}
else
{
SYNC_DECL2(CommonDataSubscriber, sensorDataOdom, approxSync, queueSize, odomSub_, sensorDataSub_);
SYNC_DECL2(CommonDataSubscriber, sensorDataOdom, approxSync_, syncQueueSize_, odomSub_, sensorDataSub_);
}
}
else
@@ -93,13 +90,13 @@ void CommonDataSubscriber::setupSensorDataCallbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(1).reliability(qosOdom_).get_rmw_qos_profile());
SYNC_DECL2(CommonDataSubscriber, sensorDataInfo, approxSync, queueSize, sensorDataSub_, odomInfoSub_);
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile());
SYNC_DECL2(CommonDataSubscriber, sensorDataInfo, approxSync_, syncQueueSize_, sensorDataSub_, odomInfoSub_);
}
else
{
sensorDataSub_.unsubscribe();
sensorDataSubOnly_ = node.create_subscription<rtabmap_msgs::msg::SensorData>("sensor_data", rclcpp::QoS(1).reliability(qosSensorData_), std::bind(&CommonDataSubscriber::sensorDataCallback, this, std::placeholders::_1));
sensorDataSubOnly_ = node.create_subscription<rtabmap_msgs::msg::SensorData>("sensor_data", rclcpp::QoS(topicQueueSize_).reliability(qosSensorData_), std::bind(&CommonDataSubscriber::sensorDataCallback, this, std::placeholders::_1));
subscribedTopicsMsg_ =
uFormat("\n%s subscribed to:\n %s",