Odom: removed long processing from ros callbacks (decreasing delay, also making delay independent of the message filters topic_queue_size and sync_queue_size parameters)

2026-10-03 16:27:46 +08:00 · 2024-09-03 17:18:06 -07:00
parent 3eb0b47a55
commit fc1387f784
2 changed files with 86 additions and 38 deletions
@@ -43,6 +43,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap_msgs/ResetPose.h>
 #include <rtabmap/core/SensorData.h>
 #include <rtabmap/core/Parameters.h>
+#include <rtabmap/utilite/UThread.h>

 #include <boost/thread.hpp>

@@ -55,7 +56,7 @@ class Odometry;

 namespace rtabmap_odom {

-class OdometryROS : public nodelet::Nodelet
+class OdometryROS : public nodelet::Nodelet, public UThread
 {

 public:
@@ -94,6 +95,9 @@ private:
 	virtual void onOdomInit() = 0;
 	virtual void updateParameters(rtabmap::ParametersMap & parameters) {}

+	virtual void mainLoop();
+	virtual void mainLoopKill();
+
 	void callbackIMU(const sensor_msgs::ImuConstPtr& msg);
 	void reset(const rtabmap::Transform & pose = rtabmap::Transform::getIdentity());

@@ -138,6 +142,13 @@ private:
 	tf::TransformListener tfListener_;
 	ros::Subscriber imuSub_;

+	// Safe-threading
+	UMutex imuMutex_;
+	UMutex dataMutex_;	
+	USemaphore dataReady_;
+	rtabmap::SensorData dataToProcess_;
+	std_msgs::Header dataHeaderToProcess_;
+
 	bool paused_;
 	int resetCountdown_;
 	int resetCurrentCount_;
@@ -156,7 +167,6 @@ private:
 	bool waitIMUToinit_;
 	bool imuProcessed_;
 	std::map<double, rtabmap::IMU> imus_;
-	std::pair<rtabmap::SensorData, std_msgs::Header > bufferedData_;

 	rtabmap_util::ULogToRosout ulogToRosout_;

@@ -93,6 +93,7 @@ OdometryROS::OdometryROS(bool stereoParams, bool visParams, bool icpParams) :

 OdometryROS::~OdometryROS()
 {
+	this->join(true);
 	delete odometry_;
 }

@@ -379,6 +380,8 @@ void OdometryROS::onInit()
 		NODELET_INFO("odometry: Subscribing to IMU topic %s", imuSub_.getTopic().c_str());
 	}

+	this->start();
+
 	onOdomInit();
 }

@@ -433,17 +436,12 @@ void OdometryROS::callbackIMU(const sensor_msgs::ImuConstPtr& msg)
 				cv::Mat(3,3,CV_64FC1,(void*)msg->linear_acceleration_covariance.data()).clone(),
 				localTransform);

+		UScopeMutex m(imuMutex_);
+
 		imus_.insert(std::make_pair(stamp, imu));
-
-		if(bufferedData_.first.isValid() && stamp > bufferedData_.first.stamp())
-		{
-			SensorData data = bufferedData_.first;
-			bufferedData_.first = SensorData();
-			processData(data, bufferedData_.second);
-		}
-
 		if(imus_.size() > 1000)
 		{
+			NODELET_WARN("Dropping imu data!");
 			imus_.erase(imus_.begin());
 		}
 	}
@@ -451,40 +449,75 @@ void OdometryROS::callbackIMU(const sensor_msgs::ImuConstPtr& msg)

 void OdometryROS::processData(SensorData & data, const std_msgs::Header & header)
 {
-	if((waitIMUToinit_ && !imuProcessed_) && odometry_->framesProcessed() == 0 && odometry_->getPose().isIdentity() && imus_.empty())
+	//NODELET_WARN("Received image: %f delay=%f", data.stamp(), (ros::Time::now() - header.stamp).toSec());
+	if(dataMutex_.lockTry() == 0)
 	{
-		NODELET_WARN("odometry: waiting imu (%s) to initialize orientation (wait_imu_to_init=true)", imuSub_.getTopic().c_str());
+		dataToProcess_ = data;
+		dataHeaderToProcess_ = header;
+		dataReady_.release();
+		dataMutex_.unlock();
+	}
+	else
+	{
+		NODELET_INFO("Dropping image/scan data");
+	}
+}
+
+void OdometryROS::mainLoopKill()
+{
+	// in case we were waiting, unblock thread
+	dataReady_.release();
+}
+
+void OdometryROS::mainLoop()
+{
+	dataReady_.acquire();
+
+	if(!this->isRunning())
+	{
+		// thread killed
 		return;
 	}

-	if(waitIMUToinit_ && (imus_.empty() || imus_.rbegin()->first < header.stamp.toSec()))
-	{
-		//NODELET_WARN("No imu received with higher stamp than last image (%f)! Buffering this image until we get more imu msgs...", stamp.toSec());
+	UScopeMutex lock(dataMutex_);

-		// keep in cache to process later when we will receive imu msgs
-		if(bufferedData_.first.isValid())
+	// aliases
+	SensorData & data = dataToProcess_;
+	std_msgs::Header & header = dataHeaderToProcess_;
+
+	std::vector<std::pair<double, IMU> > imus;
+	{
+		UScopeMutex m(imuMutex_);
+
+		if((waitIMUToinit_ && !imuProcessed_) && odometry_->framesProcessed() == 0 && odometry_->getPose().isIdentity() && imus_.empty())
 		{
-			NODELET_ERROR("Overwriting previous data! Make sure IMU is "
-					"published faster than data rate. (last image stamp "
-					"buffered=%f and new one is %f, last imu stamp received=%f)",
-					bufferedData_.first.stamp(), data.stamp(), imus_.empty()?0:imus_.rbegin()->first);
+			NODELET_WARN("odometry: waiting imu (%s) to initialize orientation (wait_imu_to_init=true)", imuSub_.getTopic().c_str());
+			return;
+		}
+
+		if(waitIMUToinit_ && (imus_.empty() || imus_.rbegin()->first < header.stamp.toSec()))
+		{
+			NODELET_ERROR("Make sure IMU is published faster than data rate! (last image stamp=%f and last imu stamp received=%f)",
+					data.stamp(), imus_.empty()?0:imus_.rbegin()->first);
+			return;
+		}
+		// process all imu data up to current image stamp (or just after so that underlying odom approach can do interpolation of imu at image stamp)
+		std::map<double, rtabmap::IMU>::iterator iterEnd = imus_.lower_bound(header.stamp.toSec());
+		if(iterEnd!= imus_.end())
+		{
+			++iterEnd;
+		}
+		for(std::map<double, rtabmap::IMU>::iterator iter=imus_.begin(); iter!=iterEnd;)
+		{
+			imus.push_back(*iter);
+			imus_.erase(iter++);
 		}
-		bufferedData_.first = data;
-		bufferedData_.second = header;
-		return;
 	}
-	// process all imu data up to current image stamp (or just after so that underlying odom approach can do interpolation of imu at image stamp)
-	std::map<double, rtabmap::IMU>::iterator iterEnd = imus_.lower_bound(header.stamp.toSec());
-	if(iterEnd!= imus_.end())
+
+	for(size_t i=0; i<imus.size(); ++i)
 	{
-		++iterEnd;
-	}
-	for(std::map<double, rtabmap::IMU>::iterator iter=imus_.begin(); iter!=iterEnd;)
-	{
-		//NODELET_WARN("img callback: process imu   %f", iter->first);
-		SensorData dataIMU(iter->second, 0, iter->first);
+		SensorData dataIMU(imus[i].second, 0, imus[i].first);
 		odometry_->process(dataIMU);
-		imus_.erase(iter++);
 		imuProcessed_ = true;
 	}

@@ -1020,20 +1053,21 @@ void OdometryROS::processData(SensorData & data, const std_msgs::Header & header
 		odomSensorDataCompressedPub_.publish(msg);
 	}

+	double delay = (ros::Time::now() - header.stamp).toSec(); 
 	if(visParams_)
 	{
 		if(icpParams_)
 		{
-			NODELET_INFO( "Odom: quality=%d, ratio=%f, std dev=%fm|%frad, update time=%fs", info.reg.inliers, info.reg.icpInliersRatio, pose.isNull()?0.0f:std::sqrt(info.reg.covariance.at<double>(0,0)), pose.isNull()?0.0f:std::sqrt(info.reg.covariance.at<double>(5,5)), (ros::WallTime::now()-time).toSec());
+			NODELET_INFO( "Odom: quality=%d, ratio=%f, std dev=%fm|%frad, update time=%fs, delay=%fs", info.reg.inliers, info.reg.icpInliersRatio, pose.isNull()?0.0f:std::sqrt(info.reg.covariance.at<double>(0,0)), pose.isNull()?0.0f:std::sqrt(info.reg.covariance.at<double>(5,5)), (ros::WallTime::now()-time).toSec(), delay);
 		}
 		else
 		{
-			NODELET_INFO( "Odom: quality=%d, std dev=%fm|%frad, update time=%fs", info.reg.inliers, pose.isNull()?0.0f:std::sqrt(info.reg.covariance.at<double>(0,0)), pose.isNull()?0.0f:std::sqrt(info.reg.covariance.at<double>(5,5)), (ros::WallTime::now()-time).toSec());
+			NODELET_INFO( "Odom: quality=%d, std dev=%fm|%frad, update time=%fs, delay=%fs", info.reg.inliers, pose.isNull()?0.0f:std::sqrt(info.reg.covariance.at<double>(0,0)), pose.isNull()?0.0f:std::sqrt(info.reg.covariance.at<double>(5,5)), (ros::WallTime::now()-time).toSec(), delay);
 		}
 	}
 	else // if(icpParams_)
 	{
-		NODELET_INFO( "Odom: ratio=%f, std dev=%fm|%frad, update time=%fs", info.reg.icpInliersRatio, pose.isNull()?0.0f:std::sqrt(info.reg.covariance.at<double>(0,0)), pose.isNull()?0.0f:std::sqrt(info.reg.covariance.at<double>(5,5)), (ros::WallTime::now()-time).toSec());
+		NODELET_INFO( "Odom: ratio=%f, std dev=%fm|%frad, update time=%fs, delay=%fs", info.reg.icpInliersRatio, pose.isNull()?0.0f:std::sqrt(info.reg.covariance.at<double>(0,0)), pose.isNull()?0.0f:std::sqrt(info.reg.covariance.at<double>(5,5)), (ros::WallTime::now()-time).toSec(), delay);
 	}

 	statusDiagnostic_.setStatus(pose.isNull());
@@ -1066,14 +1100,18 @@ bool OdometryROS::resetToPose(rtabmap_msgs::ResetPose::Request& req, rtabmap_msg

 void OdometryROS::reset(const Transform & pose)
 {
+	UScopeMutex lock(dataMutex_);
 	odometry_->reset(pose);
 	guess_.setNull();
 	guessPreviousPose_.setNull();
 	previousStamp_ = 0.0;
 	resetCurrentCount_ = resetCountdown_;
 	imuProcessed_ = false;
-	bufferedData_.first= SensorData();
+	dataToProcess_ = SensorData();
+	dataHeaderToProcess_ = std_msgs::Header();
+	imuMutex_.lock();
 	imus_.clear();
+	imuMutex_.unlock();
 	this->flushCallbacks();
 }