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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_viz/src/GuiWrapper.cpp
+8 -8
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@@ -147,27 +147,27 @@ GuiWrapper::GuiWrapper(const rclcpp::NodeOptions & options) :
if(subscribeInfoOnly)
{
RCLCPP_INFO(this->get_logger(), "rtabmap_viz: subscribe_info_only=true");
infoOnlyTopic_ = this->create_subscription<rtabmap_msgs::msg::Info>("info", 1, std::bind(&GuiWrapper::infoCallback, this, std::placeholders::_1));
infoOnlyTopic_ = this->create_subscription<rtabmap_msgs::msg::Info>("info", rclcpp::QoS(this->getTopicQueueSize()), std::bind(&GuiWrapper::infoCallback, this, std::placeholders::_1));
}
else
{
infoTopic_.subscribe(this, "info");
mapDataTopic_.subscribe(this, "mapData");
infoTopic_.subscribe(this, "info", rclcpp::QoS(this->getTopicQueueSize()).get_rmw_qos_profile());
mapDataTopic_.subscribe(this, "mapData", rclcpp::QoS(this->getTopicQueueSize()).get_rmw_qos_profile());
infoMapSync_ = new message_filters::Synchronizer<MyInfoMapSyncPolicy>(
MyInfoMapSyncPolicy(this->getQueueSize()),
MyInfoMapSyncPolicy(this->getSyncQueueSize()),
infoTopic_,
mapDataTopic_);
infoMapSync_->registerCallback(std::bind(&GuiWrapper::infoMapCallback, this, std::placeholders::_1, std::placeholders::_2));
}
goalTopic_.subscribe(this, "goal_node");
pathTopic_.subscribe(this, "global_path");
goalTopic_.subscribe(this, "goal_node", rclcpp::QoS(this->getTopicQueueSize()).get_rmw_qos_profile());
pathTopic_.subscribe(this, "global_path", rclcpp::QoS(this->getTopicQueueSize()).get_rmw_qos_profile());
goalPathSync_ = new message_filters::Synchronizer<MyGoalPathSyncPolicy>(
MyGoalPathSyncPolicy(this->getQueueSize()),
MyGoalPathSyncPolicy(this->getSyncQueueSize()),
goalTopic_,
pathTopic_);
goalPathSync_->registerCallback(std::bind(&GuiWrapper::goalPathCallback, this, std::placeholders::_1, std::placeholders::_2));
goalReachedTopic_ = this->create_subscription<std_msgs::msg::Bool>("goal_reached", 5, std::bind(&GuiWrapper::goalReachedCallback, this, std::placeholders::_1));
goalReachedTopic_ = this->create_subscription<std_msgs::msg::Bool>("goal_reached", rclcpp::QoS(topicQueueSize_), std::bind(&GuiWrapper::goalReachedCallback, this, std::placeholders::_1));
setupCallbacks(*this); // do it at the end
}