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GPS and global pose async topics buffered to get more accuratly the closest value to current update stamp in case there is significant delay.

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matlabbe
2025-03-30 14:15:09 -07:00
parent a2f2971094
commit e661abb884
4 changed files with 125 additions and 29 deletions
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rtabmap_slam/include/rtabmap_slam/CoreWrapper.h
+7 -2
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@@ -405,10 +405,15 @@ private:
cv::Mat userData_;
UMutex userDataMutex_;
rclcpp::CallbackGroup::SharedPtr globalPoseAsyncCallbackGroup_;
rclcpp::Subscription<geometry_msgs::msg::PoseWithCovarianceStamped>::SharedPtr globalPoseAsyncSub_;
geometry_msgs::msg::PoseWithCovarianceStamped globalPose_;
std::map<double, geometry_msgs::msg::PoseWithCovarianceStamped> globalPoses_;
UMutex globalPoseMutex_;
rclcpp::CallbackGroup::SharedPtr gpsAsyncCallbackGroup_;
rclcpp::Subscription<sensor_msgs::msg::NavSatFix>::SharedPtr gpsFixAsyncSub_;
rtabmap::GPS gps_;
std::map<double, rtabmap::GPS> gps_;
UMutex gpsMutex_;
rclcpp::CallbackGroup::SharedPtr landmarkCallbackGroup_;
rclcpp::Subscription<rtabmap_msgs::msg::LandmarkDetection>::SharedPtr landmarkDetectionSub_;