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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/CommonDataSubscriberRGBD4.cpp
+15 -15
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@@ -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;