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merged master->ros2

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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/rgbd_split.cpp
-3
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@@ -39,12 +39,9 @@ namespace rtabmap_util
RGBDSplit::RGBDSplit(const rclcpp::NodeOptions & options) :
Node("rgbd_split", options)
{
int queueSize = 10;
int qos = 0;
queueSize = this->declare_parameter("queue_size", queueSize);
qos = this->declare_parameter("qos", qos);
RCLCPP_INFO(this->get_logger(), "%s: queue_size = %d", get_name(), queueSize);
RCLCPP_INFO(this->get_logger(), "%s: qos = %d", get_name(), qos);
rgbdImageSub_ = create_subscription<rtabmap_msgs::msg::RGBDImage>("rgbd_image", rclcpp::QoS(5).reliability((rmw_qos_reliability_policy_t)qos), std::bind(&RGBDSplit::callback, this, std::placeholders::_1));