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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_util/src/nodelets/point_cloud_aggregator.cpp
+24 -13
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@@ -59,12 +59,23 @@ PointCloudAggregator::PointCloudAggregator(const rclcpp::NodeOptions & options)
//tfBuffer_->setCreateTimerInterface(timer_interface);
tfListener_ = std::make_shared<tf2_ros::TransformListener>(*tfBuffer_);
int queueSize = 5;
int topicQueueSize = 1;
int syncQueueSize = 5;
int count = 2;
bool approx=true;
double approxSyncMaxInterval = 0.0;
int qos=0;
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);
frameId_ = this->declare_parameter("frame_id", frameId_);
fixedFrameId_ = this->declare_parameter("fixed_frame_id", fixedFrameId_);
@@ -76,24 +87,24 @@ PointCloudAggregator::PointCloudAggregator(const rclcpp::NodeOptions & options)
cloudPub_ = create_publisher<sensor_msgs::msg::PointCloud2>("combined_cloud", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos));
cloudSub_1_.subscribe(this, "cloud1", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
cloudSub_2_.subscribe(this, "cloud2", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
cloudSub_1_.subscribe(this, "cloud1", rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
cloudSub_2_.subscribe(this, "cloud2", rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
std::string subscribedTopicsMsg;
if(count == 4)
{
cloudSub_3_.subscribe(this, "cloud3", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
cloudSub_4_.subscribe(this, "cloud4", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
cloudSub_3_.subscribe(this, "cloud3", rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
cloudSub_4_.subscribe(this, "cloud4", rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
if(approx)
{
approxSync4_ = new message_filters::Synchronizer<ApproxSync4Policy>(ApproxSync4Policy(queueSize), cloudSub_1_, cloudSub_2_, cloudSub_3_, cloudSub_4_);
approxSync4_ = new message_filters::Synchronizer<ApproxSync4Policy>(ApproxSync4Policy(syncQueueSize), cloudSub_1_, cloudSub_2_, cloudSub_3_, cloudSub_4_);
if(approxSyncMaxInterval > 0.0)
approxSync4_->setMaxIntervalDuration(rclcpp::Duration::from_seconds(approxSyncMaxInterval));
approxSync4_->registerCallback(std::bind(&rtabmap_util::PointCloudAggregator::clouds4_callback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3, std::placeholders::_4));
}
else
{
exactSync4_ = new message_filters::Synchronizer<ExactSync4Policy>(ExactSync4Policy(queueSize), cloudSub_1_, cloudSub_2_, cloudSub_3_, cloudSub_4_);
exactSync4_ = new message_filters::Synchronizer<ExactSync4Policy>(ExactSync4Policy(syncQueueSize), cloudSub_1_, cloudSub_2_, cloudSub_3_, cloudSub_4_);
exactSync4_->registerCallback(std::bind(&rtabmap_util::PointCloudAggregator::clouds4_callback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3, std::placeholders::_4));
}
subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync%s):\n %s,\n %s,\n %s,\n %s",
@@ -107,17 +118,17 @@ PointCloudAggregator::PointCloudAggregator(const rclcpp::NodeOptions & options)
}
else if(count == 3)
{
cloudSub_3_.subscribe(this, "cloud3", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
cloudSub_3_.subscribe(this, "cloud3", rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
if(approx)
{
approxSync3_ = new message_filters::Synchronizer<ApproxSync3Policy>(ApproxSync3Policy(queueSize), cloudSub_1_, cloudSub_2_, cloudSub_3_);
approxSync3_ = new message_filters::Synchronizer<ApproxSync3Policy>(ApproxSync3Policy(syncQueueSize), cloudSub_1_, cloudSub_2_, cloudSub_3_);
if(approxSyncMaxInterval > 0.0)
approxSync3_->setMaxIntervalDuration(rclcpp::Duration::from_seconds(approxSyncMaxInterval));
approxSync3_->registerCallback(std::bind(&rtabmap_util::PointCloudAggregator::clouds3_callback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
}
else
{
exactSync3_ = new message_filters::Synchronizer<ExactSync3Policy>(ExactSync3Policy(queueSize), cloudSub_1_, cloudSub_2_, cloudSub_3_);
exactSync3_ = new message_filters::Synchronizer<ExactSync3Policy>(ExactSync3Policy(syncQueueSize), cloudSub_1_, cloudSub_2_, cloudSub_3_);
exactSync3_->registerCallback(std::bind(&rtabmap_util::PointCloudAggregator::clouds3_callback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
}
subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync%s):\n %s,\n %s,\n %s",
@@ -132,14 +143,14 @@ PointCloudAggregator::PointCloudAggregator(const rclcpp::NodeOptions & options)
{
if(approx)
{
approxSync2_ = new message_filters::Synchronizer<ApproxSync2Policy>(ApproxSync2Policy(queueSize), cloudSub_1_, cloudSub_2_);
approxSync2_ = new message_filters::Synchronizer<ApproxSync2Policy>(ApproxSync2Policy(syncQueueSize), cloudSub_1_, cloudSub_2_);
if(approxSyncMaxInterval > 0.0)
approxSync2_->setMaxIntervalDuration(rclcpp::Duration::from_seconds(approxSyncMaxInterval));
approxSync2_->registerCallback(std::bind(&rtabmap_util::PointCloudAggregator::clouds2_callback, this, std::placeholders::_1, std::placeholders::_2));
}
else
{
exactSync2_ = new message_filters::Synchronizer<ExactSync2Policy>(ExactSync2Policy(queueSize), cloudSub_1_, cloudSub_2_);
exactSync2_ = new message_filters::Synchronizer<ExactSync2Policy>(ExactSync2Policy(syncQueueSize), cloudSub_1_, cloudSub_2_);
exactSync2_->registerCallback(std::bind(&rtabmap_util::PointCloudAggregator::clouds2_callback, this, std::placeholders::_1, std::placeholders::_2));
}
subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync%s):\n %s,\n %s",