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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/nodelets/rgbdx_sync.cpp
+23 -11
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@@ -42,21 +42,33 @@ RGBDXSync::RGBDXSync(const rclcpp::NodeOptions & options) :
SYNC_INIT(rgbd7),
SYNC_INIT(rgbd8)
{
int queueSize = 10;
int topicQueueSize = 1;
int syncQueueSize = 10;
bool approxSync = true;
int rgbdCameras = 2;
double approxSyncMaxInterval = 0.0;
int qos = 0;
approxSync = this->declare_parameter("approx_sync", approxSync);
approxSyncMaxInterval = this->declare_parameter("approx_sync_max_interval", approxSyncMaxInterval);
queueSize = this->declare_parameter("queue_size", queueSize);
topicQueueSize = this->declare_parameter("topic_queue_size", topicQueueSize);
int queueSize = this->declare_parameter("queue_size", -1);
if(queueSize != -1)
{
syncQueueSize = queueSize;
RCLCPP_WARN(this->get_logger(), "Parameter \"queue_size\" has been renamed "
"to \"sync_queue_size\" and will be removed "
"in future versions! The value (%d) is copied to "
"\"sync_queue_size\".", syncQueueSize);
}
syncQueueSize = this->declare_parameter("sync_queue_size", syncQueueSize);
qos = this->declare_parameter("qos", qos);
rgbdCameras = this->declare_parameter("rgbd_cameras", rgbdCameras);
RCLCPP_INFO(this->get_logger(), "%s: approx_sync = %s", get_name(), approxSync?"true":"false");
if(approxSync)
RCLCPP_INFO(this->get_logger(), "%s: approx_sync_max_interval = %f", get_name(), approxSyncMaxInterval);
RCLCPP_INFO(this->get_logger(), "%s: queue_size = %d", get_name(), queueSize);
RCLCPP_INFO(this->get_logger(), "%s: topic_queue_size = %d", get_name(), topicQueueSize);
RCLCPP_INFO(this->get_logger(), "%s: sync_queue_size = %d", get_name(), syncQueueSize);
RCLCPP_INFO(this->get_logger(), "%s: qos = %d", get_name(), qos);
RCLCPP_INFO(this->get_logger(), "%s: rgbd_cameras = %d", get_name(), rgbdCameras);
@@ -68,14 +80,14 @@ RGBDXSync::RGBDXSync(const rclcpp::NodeOptions & options) :
for(int i=0; i<rgbdCameras; ++i)
{
rgbdSubs_[i] = new message_filters::Subscriber<rtabmap_msgs::msg::RGBDImage>;
rgbdSubs_[i]->subscribe(this, uFormat("rgbd_image%d", i), rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
rgbdSubs_[i]->subscribe(this, uFormat("rgbd_image%d", i), rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
}
std::string name_ = get_name();
std::string subscribedTopicsMsg_;
if(rgbdCameras==2)
{
SYNC_DECL2(RGBDXSync, rgbd2, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]));
SYNC_DECL2(RGBDXSync, rgbd2, approxSync, syncQueueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]));
if(approxSync && approxSyncMaxInterval>0.0)
{
rgbd2ApproximateSync_->setMaxIntervalDuration(rclcpp::Duration::from_seconds(approxSyncMaxInterval));
@@ -83,7 +95,7 @@ RGBDXSync::RGBDXSync(const rclcpp::NodeOptions & options) :
}
else if(rgbdCameras==3)
{
SYNC_DECL3(RGBDXSync, rgbd3, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]));
SYNC_DECL3(RGBDXSync, rgbd3, approxSync, syncQueueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]));
if(approxSync && approxSyncMaxInterval>0.0)
{
rgbd3ApproximateSync_->setMaxIntervalDuration(rclcpp::Duration::from_seconds(approxSyncMaxInterval));
@@ -91,7 +103,7 @@ RGBDXSync::RGBDXSync(const rclcpp::NodeOptions & options) :
}
else if(rgbdCameras==4)
{
SYNC_DECL4(RGBDXSync, rgbd4, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]));
SYNC_DECL4(RGBDXSync, rgbd4, approxSync, syncQueueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]));
if(approxSync && approxSyncMaxInterval>0.0)
{
rgbd4ApproximateSync_->setMaxIntervalDuration(rclcpp::Duration::from_seconds(approxSyncMaxInterval));
@@ -99,7 +111,7 @@ RGBDXSync::RGBDXSync(const rclcpp::NodeOptions & options) :
}
else if(rgbdCameras==5)
{
SYNC_DECL5(RGBDXSync, rgbd5, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]));
SYNC_DECL5(RGBDXSync, rgbd5, approxSync, syncQueueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]));
if(approxSync && approxSyncMaxInterval>0.0)
{
rgbd5ApproximateSync_->setMaxIntervalDuration(rclcpp::Duration::from_seconds(approxSyncMaxInterval));
@@ -107,7 +119,7 @@ RGBDXSync::RGBDXSync(const rclcpp::NodeOptions & options) :
}
else if(rgbdCameras==6)
{
SYNC_DECL6(RGBDXSync, rgbd6, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), (*rgbdSubs_[5]));
SYNC_DECL6(RGBDXSync, rgbd6, approxSync, syncQueueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), (*rgbdSubs_[5]));
if(approxSync && approxSyncMaxInterval>0.0)
{
rgbd6ApproximateSync_->setMaxIntervalDuration(rclcpp::Duration::from_seconds(approxSyncMaxInterval));
@@ -115,7 +127,7 @@ RGBDXSync::RGBDXSync(const rclcpp::NodeOptions & options) :
}
else if(rgbdCameras==7)
{
SYNC_DECL7(RGBDXSync, rgbd7, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), (*rgbdSubs_[5]), (*rgbdSubs_[6]));
SYNC_DECL7(RGBDXSync, rgbd7, approxSync, syncQueueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), (*rgbdSubs_[5]), (*rgbdSubs_[6]));
if(approxSync && approxSyncMaxInterval>0.0)
{
rgbd7ApproximateSync_->setMaxIntervalDuration(rclcpp::Duration::from_seconds(approxSyncMaxInterval));
@@ -123,7 +135,7 @@ RGBDXSync::RGBDXSync(const rclcpp::NodeOptions & options) :
}
else if(rgbdCameras==8)
{
SYNC_DECL8(RGBDXSync, rgbd8, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), (*rgbdSubs_[5]), (*rgbdSubs_[6]), (*rgbdSubs_[7]));
SYNC_DECL8(RGBDXSync, rgbd8, approxSync, syncQueueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), (*rgbdSubs_[5]), (*rgbdSubs_[6]), (*rgbdSubs_[7]));
if(approxSync && approxSyncMaxInterval>0.0)
{
rgbd8ApproximateSync_->setMaxIntervalDuration(rclcpp::Duration::from_seconds(approxSyncMaxInterval));