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Make sure to use syncQueueSize for sync policies in (#1209)

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PointCloudAggregator

Queue size parameter was split into sync_queue_size and topic_queue_size
parameters in ae44e1a215, however
syncQueueSize was never used in PointCloudAggregator.

Co-authored-by: Christopher Prinds Bilberg <[email protected]>
This commit is contained in:
ChristopherBilberg
2024-09-21 15:51:13 -07:00
committed by GitHub
co-authored by Christopher Prinds Bilberg
parent 76f1c50d19
commit e0542c7e4b
1 changed files with 6 additions and 6 deletions
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rtabmap_util/src/nodelets/point_cloud_aggregator.cpp
+6 -6
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@@ -135,14 +135,14 @@ private:
cloudSub_4_.subscribe(nh, "cloud4", queueSize); cloudSub_4_.subscribe(nh, "cloud4", queueSize);
if(approx) 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) if(approxSyncMaxInterval > 0.0)
approxSync4_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval)); approxSync4_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval));
approxSync4_->registerCallback(boost::bind(&rtabmap_util::PointCloudAggregator::clouds4_callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4)); approxSync4_->registerCallback(boost::bind(&rtabmap_util::PointCloudAggregator::clouds4_callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4));
} }
else 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(boost::bind(&rtabmap_util::PointCloudAggregator::clouds4_callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4)); exactSync4_->registerCallback(boost::bind(&rtabmap_util::PointCloudAggregator::clouds4_callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4));
} }
subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync%s):\n %s,\n %s,\n %s,\n %s", subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync%s):\n %s,\n %s,\n %s,\n %s",
@@ -159,14 +159,14 @@ private:
cloudSub_3_.subscribe(nh, "cloud3", queueSize); cloudSub_3_.subscribe(nh, "cloud3", queueSize);
if(approx) 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) if(approxSyncMaxInterval > 0.0)
approxSync3_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval)); approxSync3_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval));
approxSync3_->registerCallback(boost::bind(&rtabmap_util::PointCloudAggregator::clouds3_callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3)); approxSync3_->registerCallback(boost::bind(&rtabmap_util::PointCloudAggregator::clouds3_callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3));
} }
else 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(boost::bind(&rtabmap_util::PointCloudAggregator::clouds3_callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3)); exactSync3_->registerCallback(boost::bind(&rtabmap_util::PointCloudAggregator::clouds3_callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3));
} }
subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync%s):\n %s,\n %s,\n %s", subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync%s):\n %s,\n %s,\n %s",
@@ -181,14 +181,14 @@ private:
{ {
if(approx) 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) if(approxSyncMaxInterval > 0.0)
approxSync2_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval)); approxSync2_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval));
approxSync2_->registerCallback(boost::bind(&rtabmap_util::PointCloudAggregator::clouds2_callback, this, boost::placeholders::_1, boost::placeholders::_2)); approxSync2_->registerCallback(boost::bind(&rtabmap_util::PointCloudAggregator::clouds2_callback, this, boost::placeholders::_1, boost::placeholders::_2));
} }
else 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(boost::bind(&rtabmap_util::PointCloudAggregator::clouds2_callback, this, boost::placeholders::_1, boost::placeholders::_2)); exactSync2_->registerCallback(boost::bind(&rtabmap_util::PointCloudAggregator::clouds2_callback, this, boost::placeholders::_1, boost::placeholders::_2));
} }
subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync%s):\n %s,\n %s", subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync%s):\n %s,\n %s",