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queue_size: fixed all individual subscribers of message_filters with queue_size instead of 1 (noetic issue callbacks never called, see also https://github.com/introlab/rtabmap_ros/commit/7c48684736534015882d0a2c83ca027b6ecf3407)

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This commit is contained in:
matlabbe
2020-08-19 16:16:11 -04:00
parent c5c0e0807d
commit ed564c3a12
9 changed files with 108 additions and 108 deletions
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src/impl/CommonDataSubscriberDepth.cpp
+17 -17
View File
@@ -480,20 +480,20 @@ void CommonDataSubscriber::setupDepthCallbacks(
image_transport::TransportHints hintsRgb("raw", ros::TransportHints(), rgb_pnh);
image_transport::TransportHints hintsDepth("raw", ros::TransportHints(), depth_pnh);
imageSub_.subscribe(rgb_it, rgb_nh.resolveName("image"), 1, hintsRgb);
imageDepthSub_.subscribe(depth_it, depth_nh.resolveName("image"), 1, hintsDepth);
cameraInfoSub_.subscribe(rgb_nh, "camera_info", 1);
imageSub_.subscribe(rgb_it, rgb_nh.resolveName("image"), queueSize, hintsRgb);
imageDepthSub_.subscribe(depth_it, depth_nh.resolveName("image"), queueSize, hintsDepth);
cameraInfoSub_.subscribe(rgb_nh, "camera_info", queueSize);
#ifdef RTABMAP_SYNC_USER_DATA
if(subscribeOdom && subscribeUserData)
{
odomSub_.subscribe(nh, "odom", queueSize);
userDataSub_.subscribe(nh, "user_data", 1);
userDataSub_.subscribe(nh, "user_data", queueSize);
if(subscribeScanDesc)
{
subscribedToScanDescriptor_ = true;
scanDescSub_.subscribe(nh, "scan_descriptor", 1);
scanDescSub_.subscribe(nh, "scan_descriptor", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
@@ -508,7 +508,7 @@ void CommonDataSubscriber::setupDepthCallbacks(
else if(subscribeScan2d)
{
subscribedToScan2d_ = true;
scanSub_.subscribe(nh, "scan", 1);
scanSub_.subscribe(nh, "scan", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
@@ -523,7 +523,7 @@ void CommonDataSubscriber::setupDepthCallbacks(
else if(subscribeScan3d)
{
subscribedToScan3d_ = true;
scan3dSub_.subscribe(nh, "scan_cloud", 1);
scan3dSub_.subscribe(nh, "scan_cloud", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
@@ -555,7 +555,7 @@ void CommonDataSubscriber::setupDepthCallbacks(
if(subscribeScanDesc)
{
subscribedToScanDescriptor_ = true;
scanDescSub_.subscribe(nh, "scan_descriptor", 1);
scanDescSub_.subscribe(nh, "scan_descriptor", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
@@ -570,7 +570,7 @@ void CommonDataSubscriber::setupDepthCallbacks(
else if(subscribeScan2d)
{
subscribedToScan2d_ = true;
scanSub_.subscribe(nh, "scan", 1);
scanSub_.subscribe(nh, "scan", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
@@ -585,7 +585,7 @@ void CommonDataSubscriber::setupDepthCallbacks(
else if(subscribeScan3d)
{
subscribedToScan3d_ = true;
scan3dSub_.subscribe(nh, "scan_cloud", 1);
scan3dSub_.subscribe(nh, "scan_cloud", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
@@ -611,12 +611,12 @@ void CommonDataSubscriber::setupDepthCallbacks(
#ifdef RTABMAP_SYNC_USER_DATA
else if(subscribeUserData)
{
userDataSub_.subscribe(nh, "user_data", 1);
userDataSub_.subscribe(nh, "user_data", queueSize);
if(subscribeScanDesc)
{
subscribedToScanDescriptor_ = true;
scanDescSub_.subscribe(nh, "scan_descriptor", 1);
scanDescSub_.subscribe(nh, "scan_descriptor", queueSize);
if(subscribeOdomInfo)
{
@@ -632,7 +632,7 @@ void CommonDataSubscriber::setupDepthCallbacks(
else if(subscribeScan2d)
{
subscribedToScan2d_ = true;
scanSub_.subscribe(nh, "scan", 1);
scanSub_.subscribe(nh, "scan", queueSize);
if(subscribeOdomInfo)
{
@@ -648,7 +648,7 @@ void CommonDataSubscriber::setupDepthCallbacks(
else if(subscribeScan3d)
{
subscribedToScan3d_ = true;
scan3dSub_.subscribe(nh, "scan_cloud", 1);
scan3dSub_.subscribe(nh, "scan_cloud", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
@@ -677,7 +677,7 @@ void CommonDataSubscriber::setupDepthCallbacks(
if(subscribeScanDesc)
{
subscribedToScanDescriptor_ = true;
scanDescSub_.subscribe(nh, "scan_descriptor", 1);
scanDescSub_.subscribe(nh, "scan_descriptor", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
@@ -692,7 +692,7 @@ void CommonDataSubscriber::setupDepthCallbacks(
else if(subscribeScan2d)
{
subscribedToScan2d_ = true;
scanSub_.subscribe(nh, "scan", 1);
scanSub_.subscribe(nh, "scan", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
@@ -707,7 +707,7 @@ void CommonDataSubscriber::setupDepthCallbacks(
else if(subscribeScan3d)
{
subscribedToScan3d_ = true;
scan3dSub_.subscribe(nh, "scan_cloud", 1);
scan3dSub_.subscribe(nh, "scan_cloud", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
src/impl/CommonDataSubscriberOdom.cpp
+2 -2
View File
@@ -84,7 +84,7 @@ void CommonDataSubscriber::setupOdomCallbacks(
#ifdef RTABMAP_SYNC_USER_DATA
if(subscribeUserData)
{
userDataSub_.subscribe(nh, "user_data", 1);
userDataSub_.subscribe(nh, "user_data", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
@@ -107,7 +107,7 @@ void CommonDataSubscriber::setupOdomCallbacks(
}
else
{
odomSubOnly_ = nh.subscribe("odom", 1, &CommonDataSubscriber::odomCallback, this);
odomSubOnly_ = nh.subscribe("odom", queueSize, &CommonDataSubscriber::odomCallback, this);
subscribedTopicsMsg_ =
uFormat("\n%s subscribed to:\n %s",
ros::this_node::getName().c_str(),
src/impl/CommonDataSubscriberRGB.cpp
+16 -16
View File
@@ -475,19 +475,19 @@ void CommonDataSubscriber::setupRGBCallbacks(
image_transport::ImageTransport rgb_it(rgb_nh);
image_transport::TransportHints hintsRgb("raw", ros::TransportHints(), rgb_pnh);
imageSub_.subscribe(rgb_it, rgb_nh.resolveName("image"), 1, hintsRgb);
cameraInfoSub_.subscribe(rgb_nh, "camera_info", 1);
imageSub_.subscribe(rgb_it, rgb_nh.resolveName("image"), queueSize, hintsRgb);
cameraInfoSub_.subscribe(rgb_nh, "camera_info", queueSize);
#ifdef RTABMAP_SYNC_USER_DATA
if(subscribeOdom && subscribeUserData)
{
odomSub_.subscribe(nh, "odom", queueSize);
userDataSub_.subscribe(nh, "user_data", 1);
userDataSub_.subscribe(nh, "user_data", queueSize);
if(subscribeScanDesc)
{
subscribedToScanDescriptor_ = true;
scanDescSub_.subscribe(nh, "scan_descriptor", 1);
scanDescSub_.subscribe(nh, "scan_descriptor", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
@@ -502,7 +502,7 @@ void CommonDataSubscriber::setupRGBCallbacks(
else if(subscribeScan2d)
{
subscribedToScan2d_ = true;
scanSub_.subscribe(nh, "scan", 1);
scanSub_.subscribe(nh, "scan", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
@@ -517,7 +517,7 @@ void CommonDataSubscriber::setupRGBCallbacks(
else if(subscribeScan3d)
{
subscribedToScan3d_ = true;
scan3dSub_.subscribe(nh, "scan_cloud", 1);
scan3dSub_.subscribe(nh, "scan_cloud", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
@@ -549,7 +549,7 @@ void CommonDataSubscriber::setupRGBCallbacks(
if(subscribeScanDesc)
{
subscribedToScanDescriptor_ = true;
scanDescSub_.subscribe(nh, "scan_descriptor", 1);
scanDescSub_.subscribe(nh, "scan_descriptor", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
@@ -564,7 +564,7 @@ void CommonDataSubscriber::setupRGBCallbacks(
else if(subscribeScan2d)
{
subscribedToScan2d_ = true;
scanSub_.subscribe(nh, "scan", 1);
scanSub_.subscribe(nh, "scan", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
@@ -579,7 +579,7 @@ void CommonDataSubscriber::setupRGBCallbacks(
else if(subscribeScan3d)
{
subscribedToScan3d_ = true;
scan3dSub_.subscribe(nh, "scan_cloud", 1);
scan3dSub_.subscribe(nh, "scan_cloud", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
@@ -605,12 +605,12 @@ void CommonDataSubscriber::setupRGBCallbacks(
#ifdef RTABMAP_SYNC_USER_DATA
else if(subscribeUserData)
{
userDataSub_.subscribe(nh, "user_data", 1);
userDataSub_.subscribe(nh, "user_data", queueSize);
if(subscribeScanDesc)
{
subscribedToScanDescriptor_ = true;
scanDescSub_.subscribe(nh, "scan_descriptor", 1);
scanDescSub_.subscribe(nh, "scan_descriptor", queueSize);
if(subscribeOdomInfo)
{
@@ -626,7 +626,7 @@ void CommonDataSubscriber::setupRGBCallbacks(
else if(subscribeScan2d)
{
subscribedToScan2d_ = true;
scanSub_.subscribe(nh, "scan", 1);
scanSub_.subscribe(nh, "scan", queueSize);
if(subscribeOdomInfo)
{
@@ -642,7 +642,7 @@ void CommonDataSubscriber::setupRGBCallbacks(
else if(subscribeScan3d)
{
subscribedToScan3d_ = true;
scan3dSub_.subscribe(nh, "scan_cloud", 1);
scan3dSub_.subscribe(nh, "scan_cloud", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
@@ -671,7 +671,7 @@ void CommonDataSubscriber::setupRGBCallbacks(
if(subscribeScanDesc)
{
subscribedToScanDescriptor_ = true;
scanDescSub_.subscribe(nh, "scan_descriptor", 1);
scanDescSub_.subscribe(nh, "scan_descriptor", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
@@ -686,7 +686,7 @@ void CommonDataSubscriber::setupRGBCallbacks(
else if(subscribeScan2d)
{
subscribedToScan2d_ = true;
scanSub_.subscribe(nh, "scan", 1);
scanSub_.subscribe(nh, "scan", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
@@ -701,7 +701,7 @@ void CommonDataSubscriber::setupRGBCallbacks(
else if(subscribeScan3d)
{
subscribedToScan3d_ = true;
scan3dSub_.subscribe(nh, "scan_cloud", 1);
scan3dSub_.subscribe(nh, "scan_cloud", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
src/impl/CommonDataSubscriberRGBD.cpp
+16 -16
View File
@@ -856,17 +856,17 @@ void CommonDataSubscriber::setupRGBDCallbacks(
{
rgbdSubs_.resize(1);
rgbdSubs_[0] = new message_filters::Subscriber<rtabmap_ros::RGBDImage>;
rgbdSubs_[0]->subscribe(nh, "rgbd_image", 1);
rgbdSubs_[0]->subscribe(nh, "rgbd_image", queueSize);
#ifdef RTABMAP_SYNC_USER_DATA
if(subscribeOdom && subscribeUserData)
{
odomSub_.subscribe(nh, "odom", queueSize);
userDataSub_.subscribe(nh, "user_data", 1);
userDataSub_.subscribe(nh, "user_data", queueSize);
if(subscribeScanDesc)
{
subscribedToScanDescriptor_ = true;
scanDescSub_.subscribe(nh, "scan_descriptor", 1);
scanDescSub_.subscribe(nh, "scan_descriptor", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
@@ -881,7 +881,7 @@ void CommonDataSubscriber::setupRGBDCallbacks(
else if(subscribeScan2d)
{
subscribedToScan2d_ = true;
scanSub_.subscribe(nh, "scan", 1);
scanSub_.subscribe(nh, "scan", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
@@ -896,7 +896,7 @@ void CommonDataSubscriber::setupRGBDCallbacks(
else if(subscribeScan3d)
{
subscribedToScan3d_ = true;
scan3dSub_.subscribe(nh, "scan_cloud", 1);
scan3dSub_.subscribe(nh, "scan_cloud", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
@@ -927,7 +927,7 @@ void CommonDataSubscriber::setupRGBDCallbacks(
if(subscribeScanDesc)
{
subscribedToScanDescriptor_ = true;
scanDescSub_.subscribe(nh, "scan_descriptor", 1);
scanDescSub_.subscribe(nh, "scan_descriptor", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
@@ -942,7 +942,7 @@ void CommonDataSubscriber::setupRGBDCallbacks(
else if(subscribeScan2d)
{
subscribedToScan2d_ = true;
scanSub_.subscribe(nh, "scan", 1);
scanSub_.subscribe(nh, "scan", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
@@ -957,7 +957,7 @@ void CommonDataSubscriber::setupRGBDCallbacks(
else if(subscribeScan3d)
{
subscribedToScan3d_ = true;
scan3dSub_.subscribe(nh, "scan_cloud", 1);
scan3dSub_.subscribe(nh, "scan_cloud", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
@@ -983,11 +983,11 @@ void CommonDataSubscriber::setupRGBDCallbacks(
#ifdef RTABMAP_SYNC_USER_DATA
else if(subscribeUserData)
{
userDataSub_.subscribe(nh, "user_data", 1);
userDataSub_.subscribe(nh, "user_data", queueSize);
if(subscribeScanDesc)
{
subscribedToScanDescriptor_ = true;
scanDescSub_.subscribe(nh, "scan_descriptor", 1);
scanDescSub_.subscribe(nh, "scan_descriptor", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
@@ -1002,7 +1002,7 @@ void CommonDataSubscriber::setupRGBDCallbacks(
else if(subscribeScan2d)
{
subscribedToScan2d_ = true;
scanSub_.subscribe(nh, "scan", 1);
scanSub_.subscribe(nh, "scan", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
@@ -1017,7 +1017,7 @@ void CommonDataSubscriber::setupRGBDCallbacks(
else if(subscribeScan3d)
{
subscribedToScan3d_ = true;
scan3dSub_.subscribe(nh, "scan_cloud", 1);
scan3dSub_.subscribe(nh, "scan_cloud", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
@@ -1046,7 +1046,7 @@ void CommonDataSubscriber::setupRGBDCallbacks(
if(subscribeScanDesc)
{
subscribedToScanDescriptor_ = true;
scanDescSub_.subscribe(nh, "scan_descriptor", 1);
scanDescSub_.subscribe(nh, "scan_descriptor", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
@@ -1061,7 +1061,7 @@ void CommonDataSubscriber::setupRGBDCallbacks(
else if(subscribeScan2d)
{
subscribedToScan2d_ = true;
scanSub_.subscribe(nh, "scan", 1);
scanSub_.subscribe(nh, "scan", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
@@ -1076,7 +1076,7 @@ void CommonDataSubscriber::setupRGBDCallbacks(
else if(subscribeScan3d)
{
subscribedToScan3d_ = true;
scan3dSub_.subscribe(nh, "scan_cloud", 1);
scan3dSub_.subscribe(nh, "scan_cloud", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
@@ -1102,7 +1102,7 @@ void CommonDataSubscriber::setupRGBDCallbacks(
}
else
{
rgbdSub_ = nh.subscribe("rgbd_image", 1, &CommonDataSubscriber::rgbdCallback, this);
rgbdSub_ = nh.subscribe("rgbd_image", queueSize, &CommonDataSubscriber::rgbdCallback, this);
subscribedTopicsMsg_ =
uFormat("\n%s subscribed to:\n %s",
src/impl/CommonDataSubscriberRGBD2.cpp
+15 -15
View File
@@ -524,17 +524,17 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
for(int i=0; i<2; ++i)
{
rgbdSubs_[i] = new message_filters::Subscriber<rtabmap_ros::RGBDImage>;
rgbdSubs_[i]->subscribe(nh, uFormat("rgbd_image%d", i), 1);
rgbdSubs_[i]->subscribe(nh, uFormat("rgbd_image%d", i), queueSize);
}
#ifdef RTABMAP_SYNC_USER_DATA
if(subscribeOdom && subscribeUserData)
{
odomSub_.subscribe(nh, "odom", queueSize);
userDataSub_.subscribe(nh, "user_data", 1);
userDataSub_.subscribe(nh, "user_data", queueSize);
if(subscribeScanDesc)
{
subscribedToScanDescriptor_ = true;
scanDescSub_.subscribe(nh, "scan_descriptor", 1);
scanDescSub_.subscribe(nh, "scan_descriptor", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
@@ -549,7 +549,7 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
else if(subscribeScan2d)
{
subscribedToScan2d_ = true;
scanSub_.subscribe(nh, "scan", 1);
scanSub_.subscribe(nh, "scan", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
@@ -564,7 +564,7 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
else if(subscribeScan3d)
{
subscribedToScan3d_ = true;
scan3dSub_.subscribe(nh, "scan_cloud", 1);
scan3dSub_.subscribe(nh, "scan_cloud", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
@@ -595,7 +595,7 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
if(subscribeScanDesc)
{
subscribedToScanDescriptor_ = true;
scanDescSub_.subscribe(nh, "scan_descriptor", 1);
scanDescSub_.subscribe(nh, "scan_descriptor", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
@@ -610,7 +610,7 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
else if(subscribeScan2d)
{
subscribedToScan2d_ = true;
scanSub_.subscribe(nh, "scan", 1);
scanSub_.subscribe(nh, "scan", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
@@ -625,7 +625,7 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
else if(subscribeScan3d)
{
subscribedToScan3d_ = true;
scan3dSub_.subscribe(nh, "scan_cloud", 1);
scan3dSub_.subscribe(nh, "scan_cloud", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
@@ -651,11 +651,11 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
#ifdef RTABMAP_SYNC_USER_DATA
else if(subscribeUserData)
{
userDataSub_.subscribe(nh, "user_data", 1);
userDataSub_.subscribe(nh, "user_data", queueSize);
if(subscribeScanDesc)
{
subscribedToScanDescriptor_ = true;
scanDescSub_.subscribe(nh, "scan_descriptor", 1);
scanDescSub_.subscribe(nh, "scan_descriptor", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
@@ -670,7 +670,7 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
else if(subscribeScan2d)
{
subscribedToScan2d_ = true;
scanSub_.subscribe(nh, "scan", 1);
scanSub_.subscribe(nh, "scan", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
@@ -685,7 +685,7 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
else if(subscribeScan3d)
{
subscribedToScan3d_ = true;
scan3dSub_.subscribe(nh, "scan_cloud", 1);
scan3dSub_.subscribe(nh, "scan_cloud", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
@@ -714,7 +714,7 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
if(subscribeScanDesc)
{
subscribedToScanDescriptor_ = true;
scanDescSub_.subscribe(nh, "scan_descriptor", 1);
scanDescSub_.subscribe(nh, "scan_descriptor", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
@@ -729,7 +729,7 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
else if(subscribeScan2d)
{
subscribedToScan2d_ = true;
scanSub_.subscribe(nh, "scan", 1);
scanSub_.subscribe(nh, "scan", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
@@ -744,7 +744,7 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
else if(subscribeScan3d)
{
subscribedToScan3d_ = true;
scan3dSub_.subscribe(nh, "scan_cloud", 1);
scan3dSub_.subscribe(nh, "scan_cloud", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
src/impl/CommonDataSubscriberRGBD3.cpp
+15 -15
View File
@@ -661,17 +661,17 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
for(int i=0; i<3; ++i)
{
rgbdSubs_[i] = new message_filters::Subscriber<rtabmap_ros::RGBDImage>;
rgbdSubs_[i]->subscribe(nh, uFormat("rgbd_image%d", i), 1);
rgbdSubs_[i]->subscribe(nh, uFormat("rgbd_image%d", i), queueSize);
}
#ifdef RTABMAP_SYNC_USER_DATA
if(subscribeOdom && subscribeUserData)
{
odomSub_.subscribe(nh, "odom", queueSize);
userDataSub_.subscribe(nh, "user_data", 1);
userDataSub_.subscribe(nh, "user_data", queueSize);
if(subscribeScanDescriptor)
{
subscribedToScanDescriptor_ = true;
scanDescSub_.subscribe(nh, "scan_descriptor", 1);
scanDescSub_.subscribe(nh, "scan_descriptor", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
@@ -686,7 +686,7 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
else if(subscribeScan2d)
{
subscribedToScan2d_ = true;
scanSub_.subscribe(nh, "scan", 1);
scanSub_.subscribe(nh, "scan", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
@@ -701,7 +701,7 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
else if(subscribeScan3d)
{
subscribedToScan3d_ = true;
scan3dSub_.subscribe(nh, "scan_cloud", 1);
scan3dSub_.subscribe(nh, "scan_cloud", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
@@ -732,7 +732,7 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
if(subscribeScanDescriptor)
{
subscribedToScanDescriptor_ = true;
scanDescSub_.subscribe(nh, "scan_descriptor", 1);
scanDescSub_.subscribe(nh, "scan_descriptor", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
@@ -747,7 +747,7 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
else if(subscribeScan2d)
{
subscribedToScan2d_ = true;
scanSub_.subscribe(nh, "scan", 1);
scanSub_.subscribe(nh, "scan", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
@@ -762,7 +762,7 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
else if(subscribeScan3d)
{
subscribedToScan3d_ = true;
scan3dSub_.subscribe(nh, "scan_cloud", 1);
scan3dSub_.subscribe(nh, "scan_cloud", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
@@ -788,11 +788,11 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
#ifdef RTABMAP_SYNC_USER_DATA
else if(subscribeUserData)
{
userDataSub_.subscribe(nh, "user_data", 1);
userDataSub_.subscribe(nh, "user_data", queueSize);
if(subscribeScanDescriptor)
{
subscribedToScanDescriptor_ = true;
scanDescSub_.subscribe(nh, "scan_descriptor", 1);
scanDescSub_.subscribe(nh, "scan_descriptor", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
@@ -807,7 +807,7 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
else if(subscribeScan2d)
{
subscribedToScan2d_ = true;
scanSub_.subscribe(nh, "scan", 1);
scanSub_.subscribe(nh, "scan", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
@@ -822,7 +822,7 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
else if(subscribeScan3d)
{
subscribedToScan3d_ = true;
scan3dSub_.subscribe(nh, "scan_cloud", 1);
scan3dSub_.subscribe(nh, "scan_cloud", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
@@ -851,7 +851,7 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
if(subscribeScanDescriptor)
{
subscribedToScanDescriptor_ = true;
scanDescSub_.subscribe(nh, "scan_descriptor", 1);
scanDescSub_.subscribe(nh, "scan_descriptor", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
@@ -866,7 +866,7 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
else if(subscribeScan2d)
{
subscribedToScan2d_ = true;
scanSub_.subscribe(nh, "scan", 1);
scanSub_.subscribe(nh, "scan", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
@@ -881,7 +881,7 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
else if(subscribeScan3d)
{
subscribedToScan3d_ = true;
scan3dSub_.subscribe(nh, "scan_cloud", 1);
scan3dSub_.subscribe(nh, "scan_cloud", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
src/impl/CommonDataSubscriberRGBD4.cpp
+15 -15
View File
@@ -603,17 +603,17 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
for(int i=0; i<4; ++i)
{
rgbdSubs_[i] = new message_filters::Subscriber<rtabmap_ros::RGBDImage>;
rgbdSubs_[i]->subscribe(nh, uFormat("rgbd_image%d", i), 1);
rgbdSubs_[i]->subscribe(nh, uFormat("rgbd_image%d", i), queueSize);
}
#ifdef RTABMAP_SYNC_USER_DATA
if(subscribeOdom && subscribeUserData)
{
odomSub_.subscribe(nh, "odom", queueSize);
userDataSub_.subscribe(nh, "user_data", 1);
userDataSub_.subscribe(nh, "user_data", queueSize);
if(subscribeScanDesc)
{
subscribedToScanDescriptor_ = true;
scanDescSub_.subscribe(nh, "scan_descriptor", 1);
scanDescSub_.subscribe(nh, "scan_descriptor", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
@@ -628,7 +628,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
else if(subscribeScan2d)
{
subscribedToScan2d_ = true;
scanSub_.subscribe(nh, "scan", 1);
scanSub_.subscribe(nh, "scan", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
@@ -643,7 +643,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
else if(subscribeScan3d)
{
subscribedToScan3d_ = true;
scan3dSub_.subscribe(nh, "scan_cloud", 1);
scan3dSub_.subscribe(nh, "scan_cloud", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
@@ -674,7 +674,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
if(subscribeScanDesc)
{
subscribedToScanDescriptor_ = true;
scanDescSub_.subscribe(nh, "scan_descriptor", 1);
scanDescSub_.subscribe(nh, "scan_descriptor", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
@@ -689,7 +689,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
else if(subscribeScan2d)
{
subscribedToScan2d_ = true;
scanSub_.subscribe(nh, "scan", 1);
scanSub_.subscribe(nh, "scan", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
@@ -704,7 +704,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
else if(subscribeScan3d)
{
subscribedToScan3d_ = true;
scan3dSub_.subscribe(nh, "scan_cloud", 1);
scan3dSub_.subscribe(nh, "scan_cloud", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
@@ -730,11 +730,11 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
#ifdef RTABMAP_SYNC_USER_DATA
else if(subscribeUserData)
{
userDataSub_.subscribe(nh, "user_data", 1);
userDataSub_.subscribe(nh, "user_data", queueSize);
if(subscribeScanDesc)
{
subscribedToScanDescriptor_ = true;
scanDescSub_.subscribe(nh, "scan_descriptor", 1);
scanDescSub_.subscribe(nh, "scan_descriptor", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
@@ -749,7 +749,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
else if(subscribeScan2d)
{
subscribedToScan2d_ = true;
scanSub_.subscribe(nh, "scan", 1);
scanSub_.subscribe(nh, "scan", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
@@ -764,7 +764,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
else if(subscribeScan3d)
{
subscribedToScan3d_ = true;
scan3dSub_.subscribe(nh, "scan_cloud", 1);
scan3dSub_.subscribe(nh, "scan_cloud", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
@@ -793,7 +793,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
if(subscribeScanDesc)
{
subscribedToScanDescriptor_ = true;
scanDescSub_.subscribe(nh, "scan_descriptor", 1);
scanDescSub_.subscribe(nh, "scan_descriptor", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
@@ -808,7 +808,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
else if(subscribeScan2d)
{
subscribedToScan2d_ = true;
scanSub_.subscribe(nh, "scan", 1);
scanSub_.subscribe(nh, "scan", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
@@ -823,7 +823,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
else if(subscribeScan3d)
{
subscribedToScan3d_ = true;
scan3dSub_.subscribe(nh, "scan_cloud", 1);
scan3dSub_.subscribe(nh, "scan_cloud", queueSize);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
src/impl/CommonDataSubscriberScan.cpp
+8 -8
View File
@@ -285,24 +285,24 @@ void CommonDataSubscriber::setupScanCallbacks(
if(scanDescTopic)
{
subscribedToScanDescriptor_ = true;
scanDescSub_.subscribe(nh, "scan_descriptor", 1);
scanDescSub_.subscribe(nh, "scan_descriptor", queueSize);
}
else if(scan2dTopic)
{
subscribedToScan2d_ = true;
scanSub_.subscribe(nh, "scan", 1);
scanSub_.subscribe(nh, "scan", queueSize);
}
else
{
subscribedToScan3d_ = true;
scan3dSub_.subscribe(nh, "scan_cloud", 1);
scan3dSub_.subscribe(nh, "scan_cloud", queueSize);
}
#ifdef RTABMAP_SYNC_USER_DATA
if(subscribeOdom && subscribeUserData)
{
odomSub_.subscribe(nh, "odom", queueSize);
userDataSub_.subscribe(nh, "user_data", 1);
userDataSub_.subscribe(nh, "user_data", queueSize);
if(scanDescTopic)
{
@@ -393,7 +393,7 @@ void CommonDataSubscriber::setupScanCallbacks(
#ifdef RTABMAP_SYNC_USER_DATA
else if(subscribeUserData)
{
userDataSub_.subscribe(nh, "user_data", 1);
userDataSub_.subscribe(nh, "user_data", queueSize);
if(scanDescTopic)
{
@@ -459,7 +459,7 @@ void CommonDataSubscriber::setupScanCallbacks(
if(scanDescTopic)
{
subscribedToScanDescriptor_ = true;
scanDescSubOnly_ = nh.subscribe("scan_descriptor", 1, &CommonDataSubscriber::scanDescCallback, this);
scanDescSubOnly_ = nh.subscribe("scan_descriptor", queueSize, &CommonDataSubscriber::scanDescCallback, this);
subscribedTopicsMsg_ =
uFormat("\n%s subscribed to:\n %s",
ros::this_node::getName().c_str(),
@@ -468,7 +468,7 @@ void CommonDataSubscriber::setupScanCallbacks(
else if(scan2dTopic)
{
subscribedToScan2d_ = true;
scan2dSubOnly_ = nh.subscribe("scan", 1, &CommonDataSubscriber::scan2dCallback, this);
scan2dSubOnly_ = nh.subscribe("scan", queueSize, &CommonDataSubscriber::scan2dCallback, this);
subscribedTopicsMsg_ =
uFormat("\n%s subscribed to:\n %s",
ros::this_node::getName().c_str(),
@@ -477,7 +477,7 @@ void CommonDataSubscriber::setupScanCallbacks(
else
{
subscribedToScan3d_ = true;
scan3dSubOnly_ = nh.subscribe("scan_cloud", 1, &CommonDataSubscriber::scan3dCallback, this);
scan3dSubOnly_ = nh.subscribe("scan_cloud", queueSize, &CommonDataSubscriber::scan3dCallback, this);
subscribedTopicsMsg_ =
uFormat("\n%s subscribed to:\n %s",
ros::this_node::getName().c_str(),
src/impl/CommonDataSubscriberStereo.cpp
+4 -4
View File
@@ -108,10 +108,10 @@ void CommonDataSubscriber::setupStereoCallbacks(
image_transport::TransportHints hintsLeft("raw", ros::TransportHints(), left_pnh);
image_transport::TransportHints hintsRight("raw", ros::TransportHints(), right_pnh);
imageRectLeft_.subscribe(left_it, left_nh.resolveName("image_rect"), 1, hintsLeft);
imageRectRight_.subscribe(right_it, right_nh.resolveName("image_rect"), 1, hintsRight);
cameraInfoLeft_.subscribe(left_nh, "camera_info", 1);
cameraInfoRight_.subscribe(right_nh, "camera_info", 1);
imageRectLeft_.subscribe(left_it, left_nh.resolveName("image_rect"), queueSize, hintsLeft);
imageRectRight_.subscribe(right_it, right_nh.resolveName("image_rect"), queueSize, hintsRight);
cameraInfoLeft_.subscribe(left_nh, "camera_info", queueSize);
cameraInfoRight_.subscribe(right_nh, "camera_info", queueSize);
if(subscribeOdom)
{