/* Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke All rights reserved. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: * Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. * Neither the name of the Universite de Sherbrooke nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */ #include #include namespace rtabmap_ros { CommonDataSubscriber::CommonDataSubscriber(rclcpp::Node & node, bool gui) : queueSize_(10), approxSync_(true), warningThread_(0), callbackCalled_(false), subscribedToDepth_(!gui), subscribedToStereo_(false), subscribedToRGB_(!gui), subscribedToOdom_(true), subscribedToRGBD_(false), subscribedToScan2d_(false), subscribedToScan3d_(false), subscribedToScanDescriptor_(false), subscribedToOdomInfo_(false), subscribedToUserData_(false), odomFrameId_(""), rgbdCameras_(1), // RGB + Depth SYNC_INIT(depth), SYNC_INIT(depthScan2d), SYNC_INIT(depthScan3d), SYNC_INIT(depthScanDesc), SYNC_INIT(depthInfo), SYNC_INIT(depthScan2dInfo), SYNC_INIT(depthScan3dInfo), SYNC_INIT(depthScanDescInfo), // RGB + Depth + Odom SYNC_INIT(depthOdom), SYNC_INIT(depthOdomScan2d), SYNC_INIT(depthOdomScan3d), SYNC_INIT(depthOdomScanDesc), SYNC_INIT(depthOdomInfo), SYNC_INIT(depthOdomScan2dInfo), SYNC_INIT(depthOdomScan3dInfo), SYNC_INIT(depthOdomScanDescInfo), #ifdef RTABMAP_SYNC_USER_DATA // RGB + Depth + User Data SYNC_INIT(depthData), SYNC_INIT(depthDataScan2d), SYNC_INIT(depthDataScan3d), SYNC_INIT(depthDataScanDesc), SYNC_INIT(depthDataInfo), SYNC_INIT(depthDataScan2dInfo), SYNC_INIT(depthDataScan3dInfo), SYNC_INIT(depthDataScanDescInfo), // RGB + Depth + Odom + User Data SYNC_INIT(depthOdomData), SYNC_INIT(depthOdomDataScan2d), SYNC_INIT(depthOdomDataScan3d), SYNC_INIT(depthOdomDataScanDesc), SYNC_INIT(depthOdomDataInfo), SYNC_INIT(depthOdomDataScan2dInfo), SYNC_INIT(depthOdomDataScan3dInfo), SYNC_INIT(depthOdomDataScanDescInfo), #endif // Stereo SYNC_INIT(stereo), SYNC_INIT(stereoInfo), // Stereo + Odom SYNC_INIT(stereoOdom), SYNC_INIT(stereoOdomInfo), // RGB-only SYNC_INIT(rgb), SYNC_INIT(rgbScan2d), SYNC_INIT(rgbScan3d), SYNC_INIT(rgbScanDesc), SYNC_INIT(rgbInfo), SYNC_INIT(rgbScan2dInfo), SYNC_INIT(rgbScan3dInfo), SYNC_INIT(rgbScanDescInfo), // RGB-only + Odom SYNC_INIT(rgbOdom), SYNC_INIT(rgbOdomScan2d), SYNC_INIT(rgbOdomScan3d), SYNC_INIT(rgbOdomScanDesc), SYNC_INIT(rgbOdomInfo), SYNC_INIT(rgbOdomScan2dInfo), SYNC_INIT(rgbOdomScan3dInfo), SYNC_INIT(rgbOdomScanDescInfo), #ifdef RTABMAP_SYNC_USER_DATA // RGB-only + User Data SYNC_INIT(rgbData), SYNC_INIT(rgbDataScan2d), SYNC_INIT(rgbDataScan3d), SYNC_INIT(rgbDataScanDesc), SYNC_INIT(rgbDataInfo), SYNC_INIT(rgbDataScan2dInfo), SYNC_INIT(rgbDataScan3dInfo), SYNC_INIT(rgbDataScanDescInfo), // RGB-only + Odom + User Data SYNC_INIT(rgbOdomData), SYNC_INIT(rgbOdomDataScan2d), SYNC_INIT(rgbOdomDataScan3d), SYNC_INIT(rgbOdomDataScanDesc), SYNC_INIT(rgbOdomDataInfo), SYNC_INIT(rgbOdomDataScan2dInfo), SYNC_INIT(rgbOdomDataScan3dInfo), SYNC_INIT(rgbOdomDataScanDescInfo), #endif // 1 RGBD SYNC_INIT(rgbdScan2d), SYNC_INIT(rgbdScan3d), SYNC_INIT(rgbdScanDesc), SYNC_INIT(rgbdInfo), // 1 RGBD + Odom SYNC_INIT(rgbdOdom), SYNC_INIT(rgbdOdomScan2d), SYNC_INIT(rgbdOdomScan3d), SYNC_INIT(rgbdOdomScanDesc), SYNC_INIT(rgbdOdomInfo), #ifdef RTABMAP_SYNC_USER_DATA // 1 RGBD + User Data SYNC_INIT(rgbdData), SYNC_INIT(rgbdDataScan2d), SYNC_INIT(rgbdDataScan3d), SYNC_INIT(rgbdDataScanDesc), SYNC_INIT(rgbdDataInfo), // 1 RGBD + Odom + User Data SYNC_INIT(rgbdOdomData), SYNC_INIT(rgbdOdomDataScan2d), SYNC_INIT(rgbdOdomDataScan3d), SYNC_INIT(rgbdOdomDataScanDesc), SYNC_INIT(rgbdOdomDataInfo), #endif // X RGBD SYNC_INIT(rgbdXScan2d), SYNC_INIT(rgbdXScan3d), SYNC_INIT(rgbdXScanDesc), SYNC_INIT(rgbdXInfo), // X RGBD + Odom SYNC_INIT(rgbdXOdom), SYNC_INIT(rgbdXOdomScan2d), SYNC_INIT(rgbdXOdomScan3d), SYNC_INIT(rgbdXOdomScanDesc), SYNC_INIT(rgbdXOdomInfo), #ifdef RTABMAP_SYNC_USER_DATA // X RGBD + User Data SYNC_INIT(rgbdXData), SYNC_INIT(rgbdXDataScan2d), SYNC_INIT(rgbdXDataScan3d), SYNC_INIT(rgbdXDataScanDesc), SYNC_INIT(rgbdXDataInfo), // X RGBD + Odom + User Data SYNC_INIT(rgbdXOdomData), SYNC_INIT(rgbdXOdomDataScan2d), SYNC_INIT(rgbdXOdomDataScan3d), SYNC_INIT(rgbdXOdomDataScanDesc), SYNC_INIT(rgbdXOdomDataInfo), #endif #ifdef RTABMAP_SYNC_MULTI_RGBD // 2 RGBD SYNC_INIT(rgbd2), SYNC_INIT(rgbd2Scan2d), SYNC_INIT(rgbd2Scan3d), SYNC_INIT(rgbd2ScanDesc), SYNC_INIT(rgbd2Info), // 2 RGBD + Odom SYNC_INIT(rgbd2Odom), SYNC_INIT(rgbd2OdomScan2d), SYNC_INIT(rgbd2OdomScan3d), SYNC_INIT(rgbd2OdomScanDesc), SYNC_INIT(rgbd2OdomInfo), #ifdef RTABMAP_SYNC_USER_DATA // 2 RGBD + User Data SYNC_INIT(rgbd2Data), SYNC_INIT(rgbd2DataScan2d), SYNC_INIT(rgbd2DataScan3d), SYNC_INIT(rgbd2DataScanDesc), SYNC_INIT(rgbd2DataInfo), // 2 RGBD + Odom + User Data SYNC_INIT(rgbd2OdomData), SYNC_INIT(rgbd2OdomDataScan2d), SYNC_INIT(rgbd2OdomDataScan3d), SYNC_INIT(rgbd2OdomDataScanDesc), SYNC_INIT(rgbd2OdomDataInfo), #endif // 3 RGBD SYNC_INIT(rgbd3), SYNC_INIT(rgbd3Scan2d), SYNC_INIT(rgbd3Scan3d), SYNC_INIT(rgbd3ScanDesc), SYNC_INIT(rgbd3Info), // 3 RGBD + Odom SYNC_INIT(rgbd3Odom), SYNC_INIT(rgbd3OdomScan2d), SYNC_INIT(rgbd3OdomScan3d), SYNC_INIT(rgbd3OdomScanDesc), SYNC_INIT(rgbd3OdomInfo), #ifdef RTABMAP_SYNC_USER_DATA // 3 RGBD + User Data SYNC_INIT(rgbd3Data), SYNC_INIT(rgbd3DataScan2d), SYNC_INIT(rgbd3DataScan3d), SYNC_INIT(rgbd3DataScanDesc), SYNC_INIT(rgbd3DataInfo), // 3 RGBD + Odom + User Data SYNC_INIT(rgbd3OdomData), SYNC_INIT(rgbd3OdomDataScan2d), SYNC_INIT(rgbd3OdomDataScan3d), SYNC_INIT(rgbd3OdomDataScanDesc), SYNC_INIT(rgbd3OdomDataInfo), #endif // 4 RGBD SYNC_INIT(rgbd4), SYNC_INIT(rgbd4Scan2d), SYNC_INIT(rgbd4Scan3d), SYNC_INIT(rgbd4ScanDesc), SYNC_INIT(rgbd4Info), // 4 RGBD + Odom SYNC_INIT(rgbd4Odom), SYNC_INIT(rgbd4OdomScan2d), SYNC_INIT(rgbd4OdomScan3d), SYNC_INIT(rgbd4OdomScanDesc), SYNC_INIT(rgbd4OdomInfo), #ifdef RTABMAP_SYNC_USER_DATA // 4 RGBD + User Data SYNC_INIT(rgbd4Data), SYNC_INIT(rgbd4DataScan2d), SYNC_INIT(rgbd4DataScan3d), SYNC_INIT(rgbd4DataScanDesc), SYNC_INIT(rgbd4DataInfo), // 4 RGBD + Odom + User Data SYNC_INIT(rgbd4OdomData), SYNC_INIT(rgbd4OdomDataScan2d), SYNC_INIT(rgbd4OdomDataScan3d), SYNC_INIT(rgbd4OdomDataScanDesc), SYNC_INIT(rgbd4OdomDataInfo), #endif // 5 RGBD SYNC_INIT(rgbd5), SYNC_INIT(rgbd5Scan2d), SYNC_INIT(rgbd5Scan3d), SYNC_INIT(rgbd5ScanDesc), SYNC_INIT(rgbd5Info), // 5 RGBD + Odom SYNC_INIT(rgbd5Odom), SYNC_INIT(rgbd5OdomScan2d), SYNC_INIT(rgbd5OdomScan3d), SYNC_INIT(rgbd5OdomScanDesc), SYNC_INIT(rgbd5OdomInfo), // 6 RGBD SYNC_INIT(rgbd6), SYNC_INIT(rgbd6Scan2d), SYNC_INIT(rgbd6Scan3d), SYNC_INIT(rgbd6ScanDesc), SYNC_INIT(rgbd6Info), // 6 RGBD + Odom SYNC_INIT(rgbd6Odom), SYNC_INIT(rgbd6OdomScan2d), SYNC_INIT(rgbd6OdomScan3d), SYNC_INIT(rgbd6OdomScanDesc), SYNC_INIT(rgbd6OdomInfo), #endif // RTABMAP_SYNC_MULTI_RGBD // Scan SYNC_INIT(scan2dInfo), SYNC_INIT(scan3dInfo), SYNC_INIT(scanDescInfo), // Scan + Odom SYNC_INIT(odomScan2d), SYNC_INIT(odomScan3d), SYNC_INIT(odomScanDesc), SYNC_INIT(odomScan2dInfo), SYNC_INIT(odomScan3dInfo), SYNC_INIT(odomScanDescInfo), #ifdef RTABMAP_SYNC_USER_DATA // Scan + User Data SYNC_INIT(dataScan2d), SYNC_INIT(dataScan3d), SYNC_INIT(dataScanDesc), SYNC_INIT(dataScan2dInfo), SYNC_INIT(dataScan3dInfo), SYNC_INIT(dataScanDescInfo), // Scan + Odom + User Data SYNC_INIT(odomDataScan2d), SYNC_INIT(odomDataScan3d), SYNC_INIT(odomDataScanDesc), SYNC_INIT(odomDataScan2dInfo), SYNC_INIT(odomDataScan3dInfo), SYNC_INIT(odomDataScanDescInfo), #endif // Odom SYNC_INIT(odomInfo) #ifdef RTABMAP_SYNC_USER_DATA , // Odom + User Data SYNC_INIT(odomData), SYNC_INIT(odomDataInfo) #endif { name_ = node.get_name(); // ROS related parameters (private) // ros2: should be declared in the constructor to be used by inherited classes in their constructor subscribedToDepth_ = node.declare_parameter("subscribe_depth", subscribedToDepth_); subscribedToRGB_ = node.declare_parameter("subscribe_rgb", subscribedToRGB_); subscribedToScan2d_ = node.declare_parameter("subscribe_scan", subscribedToScan2d_); subscribedToScan3d_ = node.declare_parameter("subscribe_scan_cloud", subscribedToScan3d_); subscribedToScanDescriptor_ = node.declare_parameter("subscribe_scan_descriptor", subscribedToScanDescriptor_); subscribedToStereo_ = node.declare_parameter("subscribe_stereo", subscribedToStereo_); subscribedToRGBD_ = node.declare_parameter("subscribe_rgbd", subscribedToRGBD_); subscribedToOdomInfo_ = node.declare_parameter("subscribe_odom_info", subscribedToOdomInfo_); subscribedToUserData_ = node.declare_parameter("subscribe_user_data", subscribedToUserData_); subscribedToOdom_ = node.declare_parameter("subscribe_odom", subscribedToOdom_); odomFrameId_ = node.declare_parameter("odom_frame_id", odomFrameId_); rgbdCameras_ = node.declare_parameter("rgbd_cameras", rgbdCameras_); queueSize_ = node.declare_parameter("queue_size", queueSize_); int qosOdom = node.declare_parameter("qos_odom", 0); int qosImage = node.declare_parameter("qos_image", 0); int qosCameraInfo = node.declare_parameter("qos_camera_info", qosImage); int qosScan = node.declare_parameter("qos_scan", 0); int qosUserData = node.declare_parameter("qos_user_data", 0); qosOdom_ = (rmw_qos_reliability_policy_t)qosOdom; qosImage_ = (rmw_qos_reliability_policy_t)qosImage; qosCameraInfo_ = (rmw_qos_reliability_policy_t)qosCameraInfo; qosScan_ = (rmw_qos_reliability_policy_t)qosScan; qosUserData_ = (rmw_qos_reliability_policy_t)qosUserData; } void CommonDataSubscriber::setupCallbacks(rclcpp::Node & node) { #ifndef RTABMAP_SYNC_USER_DATA if(subscribedToUserData_) { RCLCPP_ERROR(node.get_logger(), "subscribe_user_data is true, but rtabmap_ros has been built with RTABMAP_SYNC_USER_DATA. Setting back to false."); subscribedToUserData_ = false; } #endif if(subscribedToDepth_ && subscribedToStereo_) { RCLCPP_WARN(node.get_logger(), "rtabmap: Parameters subscribe_depth and subscribe_stereo cannot be true at the same time. Parameter subscribe_depth is set to false."); subscribedToDepth_ = false; subscribedToRGB_ = false; } if(subscribedToRGB_ && subscribedToStereo_) { RCLCPP_WARN(node.get_logger(), "rtabmap: Parameters subscribe_stereo and subscribe_rgb cannot be true at the same time. Parameter subscribe_rgb is set to false."); subscribedToRGB_ = false; } if(subscribedToDepth_ && subscribedToRGBD_) { RCLCPP_WARN(node.get_logger(), "rtabmap: Parameters subscribe_depth and subscribe_rgbd cannot be true at the same time. Parameter subscribe_depth is set to false."); subscribedToDepth_ = false; subscribedToRGB_ = false; } if(subscribedToRGB_ && subscribedToRGBD_) { RCLCPP_WARN(node.get_logger(), "rtabmap: Parameters subscribe_rgb and subscribe_rgbd cannot be true at the same time. Parameter subscribe_rgb is set to false."); subscribedToRGB_ = false; } if(subscribedToStereo_ && subscribedToRGBD_) { RCLCPP_WARN(node.get_logger(), "rtabmap: Parameters subscribe_stereo and subscribe_rgbd cannot be true at the same time. Parameter subscribe_stereo is set to false."); subscribedToStereo_ = false; } if(subscribedToScan2d_ && subscribedToScan3d_) { RCLCPP_WARN(node.get_logger(), "rtabmap: Parameters subscribe_scan and subscribe_scan_cloud cannot be true at the same time. Parameter subscribe_scan_cloud is set to false."); subscribedToScan3d_ = false; } if(subscribedToScan2d_ && subscribedToScanDescriptor_) { RCLCPP_WARN(node.get_logger(), "rtabmap: Parameters subscribe_scan and subscribe_scan_descriptor cannot be true at the same time. Parameter subscribe_scan is set to false."); subscribedToScan2d_ = false; } if(subscribedToScan3d_ && subscribedToScanDescriptor_) { RCLCPP_WARN(node.get_logger(), "rtabmap: Parameters subscribe_scan_cloud and subscribe_scan_descriptor cannot be true at the same time. Parameter subscribe_scan_cloud is set to false."); subscribedToScan3d_ = false; } if(subscribedToScan2d_ || subscribedToScan3d_ || subscribedToScanDescriptor_) { if(!subscribedToDepth_ && !subscribedToStereo_ && !subscribedToRGBD_ && !subscribedToRGB_) { approxSync_ = false; // default for scan: exact sync } } if(subscribedToStereo_) { approxSync_ = false; // default for stereo: exact sync } // ros2: This one is done after checking default for approx_sync depending on the subscribers. approxSync_ = node.declare_parameter("approx_sync", approxSync_); RCLCPP_INFO(node.get_logger(), "%s: subscribe_depth = %s", name_.c_str(), subscribedToDepth_?"true":"false"); RCLCPP_INFO(node.get_logger(), "%s: subscribe_rgb = %s", name_.c_str(), subscribedToRGB_?"true":"false"); RCLCPP_INFO(node.get_logger(), "%s: subscribe_stereo = %s", name_.c_str(), subscribedToStereo_?"true":"false"); RCLCPP_INFO(node.get_logger(), "%s: subscribe_rgbd = %s (rgbd_cameras=%d)", name_.c_str(), subscribedToRGBD_?"true":"false", rgbdCameras_); RCLCPP_INFO(node.get_logger(), "%s: subscribe_odom_info = %s", name_.c_str(), subscribedToOdomInfo_?"true":"false"); RCLCPP_INFO(node.get_logger(), "%s: subscribe_user_data = %s", name_.c_str(), subscribedToUserData_?"true":"false"); RCLCPP_INFO(node.get_logger(), "%s: subscribe_scan = %s", name_.c_str(), subscribedToScan2d_?"true":"false"); RCLCPP_INFO(node.get_logger(), "%s: subscribe_scan_cloud = %s", name_.c_str(), subscribedToScan3d_?"true":"false"); RCLCPP_INFO(node.get_logger(), "%s: subscribe_scan_descriptor = %s", name_.c_str(), subscribedToScanDescriptor_?"true":"false"); RCLCPP_INFO(node.get_logger(), "%s: queue_size = %d", name_.c_str(), queueSize_); RCLCPP_INFO(node.get_logger(), "%s: qos_image = %d", name_.c_str(), qosImage_); RCLCPP_INFO(node.get_logger(), "%s: qos_camera_info = %d", name_.c_str(), qosCameraInfo_); RCLCPP_INFO(node.get_logger(), "%s: qos_scan = %d", name_.c_str(), qosScan_); RCLCPP_INFO(node.get_logger(), "%s: qos_odom = %d", name_.c_str(), qosOdom_); RCLCPP_INFO(node.get_logger(), "%s: qos_user_data = %d", name_.c_str(), qosUserData_); RCLCPP_INFO(node.get_logger(), "%s: approx_sync = %s", name_.c_str(), approxSync_?"true":"false"); subscribedToOdom_ = odomFrameId_.empty() && subscribedToOdom_; if(subscribedToDepth_) { setupDepthCallbacks( node, subscribedToOdom_, subscribedToUserData_, subscribedToScan2d_, subscribedToScan3d_, subscribedToScanDescriptor_, subscribedToOdomInfo_, queueSize_, approxSync_); } else if(subscribedToStereo_) { setupStereoCallbacks( node, subscribedToOdom_, subscribedToOdomInfo_, queueSize_, approxSync_); } else if(subscribedToRGB_) { setupRGBCallbacks( node, subscribedToOdom_, subscribedToUserData_, subscribedToScan2d_, subscribedToScan3d_, subscribedToScanDescriptor_, subscribedToOdomInfo_, queueSize_, approxSync_); } else if(subscribedToRGBD_) { if(rgbdCameras_ == 0) { setupRGBDXCallbacks( node, subscribedToOdom_, subscribedToUserData_, subscribedToScan2d_, subscribedToScan3d_, subscribedToScanDescriptor_, subscribedToOdomInfo_, queueSize_, approxSync_); } #ifdef RTABMAP_SYNC_MULTI_RGBD else if(rgbdCameras_ >= 6) { if(rgbdCameras_ > 6) { RCLCPP_ERROR(node.get_logger(), "Cannot synchronize more than 6 rgbd topics (rgbd_cameras is set to %d). Set " "rgbd_cameras=0 to use RGBDImages interface instead, then " "synchronize RGBDImage topics yourself.", rgbdCameras_); } setupRGBD6Callbacks( node, subscribedToOdom_, subscribedToUserData_, subscribedToScan2d_, subscribedToScan3d_, subscribedToScanDescriptor_, subscribedToOdomInfo_, queueSize_, approxSync_); } else if(rgbdCameras_ == 5) { setupRGBD5Callbacks( node, subscribedToOdom_, subscribedToUserData_, subscribedToScan2d_, subscribedToScan3d_, subscribedToScanDescriptor_, subscribedToOdomInfo_, queueSize_, approxSync_); } else if(rgbdCameras_ == 4) { setupRGBD4Callbacks( node, subscribedToOdom_, subscribedToUserData_, subscribedToScan2d_, subscribedToScan3d_, subscribedToScanDescriptor_, subscribedToOdomInfo_, queueSize_, approxSync_); } else if(rgbdCameras_ == 3) { setupRGBD3Callbacks( node, subscribedToOdom_, subscribedToUserData_, subscribedToScan2d_, subscribedToScan3d_, subscribedToScanDescriptor_, subscribedToOdomInfo_, queueSize_, approxSync_); } else if(rgbdCameras_ == 2) { setupRGBD2Callbacks( node, subscribedToOdom_, subscribedToUserData_, subscribedToScan2d_, subscribedToScan3d_, subscribedToScanDescriptor_, subscribedToOdomInfo_, queueSize_, approxSync_); } #else if(rgbdCameras_>1) { RCLCPP_FATAL(node.get_logger(), "Cannot synchronize more than 1 rgbd topic (rtabmap_ros has " "been built without RTABMAP_SYNC_MULTI_RGBD option). Set rgbd_cameras=0 to " "use RGBDImages interface instead without recompiling with RTABMAP_SYNC_MULTI_RGBD, " "but you will have to synchronize RGBDImage topics yourself."); } #endif else { setupRGBDCallbacks( node, subscribedToOdom_, subscribedToUserData_, subscribedToScan2d_, subscribedToScan3d_, subscribedToScanDescriptor_, subscribedToOdomInfo_, queueSize_, approxSync_); } } else if(subscribedToScan2d_ || subscribedToScan3d_ || subscribedToScanDescriptor_) { setupScanCallbacks( node, subscribedToScan2d_, subscribedToScanDescriptor_, subscribedToOdom_, subscribedToUserData_, subscribedToOdomInfo_, queueSize_, approxSync_); } else if(subscribedToOdom_) { setupOdomCallbacks( node, subscribedToUserData_, subscribedToOdomInfo_, queueSize_, approxSync_); } if(subscribedToDepth_ || subscribedToStereo_ || subscribedToRGBD_ || subscribedToScan2d_ || subscribedToScan3d_ || subscribedToScanDescriptor_ || subscribedToRGB_ || subscribedToOdom_) { warningThread_ = new std::thread([&](){ rclcpp::Rate r(1/5.0); while(!callbackCalled_) { r.sleep(); if(!callbackCalled_) { RCLCPP_WARN(node.get_logger(), "%s: Did not receive data since 5 seconds! Make sure the input topics are " "published (\"$ rostopic hz my_topic\") and the timestamps in their " "header are set. If topics are coming from different computers, make sure " "the clocks of the computers are synchronized (\"ntpdate\"). If topics are " "not published at the same rate, you could increase \"queue_size\" parameter " "(current=%d). %s%s", name_.c_str(), queueSize_, approxSync_?"": "Parameter \"approx_sync\" is false, which means that input topics should have all the exact timestamp for the callback to be called.", subscribedTopicsMsg_.c_str()); } } }); RCLCPP_INFO(node.get_logger(), "%s", subscribedTopicsMsg_.c_str()); } } CommonDataSubscriber::~CommonDataSubscriber() { if(warningThread_) { callbackCalled(); warningThread_->join(); delete warningThread_; } // RGB + Depth SYNC_DEL(depth); SYNC_DEL(depthScan2d); SYNC_DEL(depthScan3d); SYNC_DEL(depthScanDesc); SYNC_DEL(depthInfo); SYNC_DEL(depthScan2dInfo); SYNC_DEL(depthScan3dInfo); SYNC_DEL(depthScanDescInfo); // RGB + Depth + Odom SYNC_DEL(depthOdom); SYNC_DEL(depthOdomScan2d); SYNC_DEL(depthOdomScan3d); SYNC_DEL(depthOdomScanDesc); SYNC_DEL(depthOdomInfo); SYNC_DEL(depthOdomScan2dInfo); SYNC_DEL(depthOdomScan3dInfo); SYNC_DEL(depthOdomScanDescInfo); #ifdef RTABMAP_SYNC_USER_DATA // RGB + Depth + User Data SYNC_DEL(depthData); SYNC_DEL(depthDataScan2d); SYNC_DEL(depthDataScan3d); SYNC_DEL(depthDataScanDesc); SYNC_DEL(depthDataInfo); SYNC_DEL(depthDataScan2dInfo); SYNC_DEL(depthDataScan3dInfo); SYNC_DEL(depthDataScanDescInfo); // RGB + Depth + Odom + User Data SYNC_DEL(depthOdomData); SYNC_DEL(depthOdomDataScan2d); SYNC_DEL(depthOdomDataScan3d); SYNC_DEL(depthOdomDataScanDesc); SYNC_DEL(depthOdomDataInfo); SYNC_DEL(depthOdomDataScan2dInfo); SYNC_DEL(depthOdomDataScan3dInfo); SYNC_DEL(depthOdomDataScanDescInfo); #endif // Stereo SYNC_DEL(stereo); SYNC_DEL(stereoInfo); // Stereo + Odom SYNC_DEL(stereoOdom); SYNC_DEL(stereoOdomInfo); // RGB-only SYNC_DEL(rgb); SYNC_DEL(rgbScan2d); SYNC_DEL(rgbScan3d); SYNC_DEL(rgbScanDesc); SYNC_DEL(rgbInfo); SYNC_DEL(rgbScan2dInfo); SYNC_DEL(rgbScan3dInfo); SYNC_DEL(rgbScanDescInfo); // RGB-only + Odom SYNC_DEL(rgbOdom); SYNC_DEL(rgbOdomScan2d); SYNC_DEL(rgbOdomScan3d); SYNC_DEL(rgbOdomScanDesc); SYNC_DEL(rgbOdomInfo); SYNC_DEL(rgbOdomScan2dInfo); SYNC_DEL(rgbOdomScan3dInfo); SYNC_DEL(rgbOdomScanDescInfo); #ifdef RTABMAP_SYNC_USER_DATA // RGB-only + User Data SYNC_DEL(rgbData); SYNC_DEL(rgbDataScan2d); SYNC_DEL(rgbDataScan3d); SYNC_DEL(rgbDataScanDesc); SYNC_DEL(rgbDataInfo); SYNC_DEL(rgbDataScan2dInfo); SYNC_DEL(rgbDataScan3dInfo); SYNC_DEL(rgbDataScanDescInfo); // RGB-only + Odom + User Data SYNC_DEL(rgbOdomData); SYNC_DEL(rgbOdomDataScan2d); SYNC_DEL(rgbOdomDataScan3d); SYNC_DEL(rgbOdomDataScanDesc); SYNC_DEL(rgbOdomDataInfo); SYNC_DEL(rgbOdomDataScan2dInfo); SYNC_DEL(rgbOdomDataScan3dInfo); SYNC_DEL(rgbOdomDataScanDescInfo); #endif // 1 RGBD SYNC_DEL(rgbdScan2d); SYNC_DEL(rgbdScan3d); SYNC_DEL(rgbdScanDesc); SYNC_DEL(rgbdInfo); // 1 RGBD + Odom SYNC_DEL(rgbdOdom); SYNC_DEL(rgbdOdomScan2d); SYNC_DEL(rgbdOdomScan3d); SYNC_DEL(rgbdOdomScanDesc); SYNC_DEL(rgbdOdomInfo); #ifdef RTABMAP_SYNC_USER_DATA // 1 RGBD + User Data SYNC_DEL(rgbdData); SYNC_DEL(rgbdDataScan2d); SYNC_DEL(rgbdDataScan3d); SYNC_DEL(rgbdDataScanDesc); SYNC_DEL(rgbdDataInfo); // 1 RGBD + Odom + User Data SYNC_DEL(rgbdOdomData); SYNC_DEL(rgbdOdomDataScan2d); SYNC_DEL(rgbdOdomDataScan3d); SYNC_DEL(rgbdOdomDataScanDesc); SYNC_DEL(rgbdOdomDataInfo); #endif // X RGBD SYNC_DEL(rgbdXScan2d); SYNC_DEL(rgbdXScan3d); SYNC_DEL(rgbdXScanDesc); SYNC_DEL(rgbdXInfo); // X RGBD + Odom SYNC_DEL(rgbdXOdom); SYNC_DEL(rgbdXOdomScan2d); SYNC_DEL(rgbdXOdomScan3d); SYNC_DEL(rgbdXOdomScanDesc); SYNC_DEL(rgbdXOdomInfo); #ifdef RTABMAP_SYNC_USER_DATA // X RGBD + User Data SYNC_DEL(rgbdXData); SYNC_DEL(rgbdXDataScan2d); SYNC_DEL(rgbdXDataScan3d); SYNC_DEL(rgbdXDataScanDesc); SYNC_DEL(rgbdXDataInfo); // X RGBD + Odom + User Data SYNC_DEL(rgbdXOdomData); SYNC_DEL(rgbdXOdomDataScan2d); SYNC_DEL(rgbdXOdomDataScan3d); SYNC_DEL(rgbdXOdomDataScanDesc); SYNC_DEL(rgbdXOdomDataInfo); #endif #ifdef RTABMAP_SYNC_MULTI_RGBD // 2 RGBD SYNC_DEL(rgbd2); SYNC_DEL(rgbd2Scan2d); SYNC_DEL(rgbd2Scan3d); SYNC_DEL(rgbd2ScanDesc); SYNC_DEL(rgbd2Info); // 2 RGBD + Odom SYNC_DEL(rgbd2Odom); SYNC_DEL(rgbd2OdomScan2d); SYNC_DEL(rgbd2OdomScan3d); SYNC_DEL(rgbd2OdomScanDesc); SYNC_DEL(rgbd2OdomInfo); #ifdef RTABMAP_SYNC_USER_DATA // 2 RGBD + User Data SYNC_DEL(rgbd2Data); SYNC_DEL(rgbd2DataScan2d); SYNC_DEL(rgbd2DataScan3d); SYNC_DEL(rgbd2DataScanDesc); SYNC_DEL(rgbd2DataInfo); // 2 RGBD + Odom + User Data SYNC_DEL(rgbd2OdomData); SYNC_DEL(rgbd2OdomDataScan2d); SYNC_DEL(rgbd2OdomDataScan3d); SYNC_DEL(rgbd2OdomDataScanDesc); SYNC_DEL(rgbd2OdomDataInfo); #endif // 3 RGBD SYNC_DEL(rgbd3); SYNC_DEL(rgbd3Scan2d); SYNC_DEL(rgbd3Scan3d); SYNC_DEL(rgbd3ScanDesc); SYNC_DEL(rgbd3Info); // 3 RGBD + Odom SYNC_DEL(rgbd3Odom); SYNC_DEL(rgbd3OdomScan2d); SYNC_DEL(rgbd3OdomScan3d); SYNC_DEL(rgbd3OdomScanDesc); SYNC_DEL(rgbd3OdomInfo); #ifdef RTABMAP_SYNC_USER_DATA // 3 RGBD + User Data SYNC_DEL(rgbd3Data); SYNC_DEL(rgbd3DataScan2d); SYNC_DEL(rgbd3DataScan3d); SYNC_DEL(rgbd3DataScanDesc); SYNC_DEL(rgbd3DataInfo); // 3 RGBD + Odom + User Data SYNC_DEL(rgbd3OdomData); SYNC_DEL(rgbd3OdomDataScan2d); SYNC_DEL(rgbd3OdomDataScan3d); SYNC_DEL(rgbd3OdomDataScanDesc); SYNC_DEL(rgbd3OdomDataInfo); #endif // 4 RGBD SYNC_DEL(rgbd4); SYNC_DEL(rgbd4Scan2d); SYNC_DEL(rgbd4Scan3d); SYNC_DEL(rgbd4ScanDesc); SYNC_DEL(rgbd4Info); // 4 RGBD + Odom SYNC_DEL(rgbd4Odom); SYNC_DEL(rgbd4OdomScan2d); SYNC_DEL(rgbd4OdomScan3d); SYNC_DEL(rgbd4OdomScanDesc); SYNC_DEL(rgbd4OdomInfo); #ifdef RTABMAP_SYNC_USER_DATA // 4 RGBD + User Data SYNC_DEL(rgbd4Data); SYNC_DEL(rgbd4DataScan2d); SYNC_DEL(rgbd4DataScan3d); SYNC_DEL(rgbd4DataScanDesc); SYNC_DEL(rgbd4DataInfo); // 4 RGBD + Odom + User Data SYNC_DEL(rgbd4OdomData); SYNC_DEL(rgbd4OdomDataScan2d); SYNC_DEL(rgbd4OdomDataScan3d); SYNC_DEL(rgbd4OdomDataScanDesc); SYNC_DEL(rgbd4OdomDataInfo); #endif // 5 RGBD SYNC_DEL(rgbd5); SYNC_DEL(rgbd5Scan2d); SYNC_DEL(rgbd5Scan3d); SYNC_DEL(rgbd5ScanDesc); SYNC_DEL(rgbd5Info); // 5 RGBD + Odom SYNC_DEL(rgbd5Odom); SYNC_DEL(rgbd5OdomScan2d); SYNC_DEL(rgbd5OdomScan3d); SYNC_DEL(rgbd5OdomScanDesc); SYNC_DEL(rgbd5OdomInfo); // 6 RGBD SYNC_DEL(rgbd6); SYNC_DEL(rgbd6Scan2d); SYNC_DEL(rgbd6Scan3d); SYNC_DEL(rgbd6ScanDesc); SYNC_DEL(rgbd6Info); // 6 RGBD + Odom SYNC_DEL(rgbd6Odom); SYNC_DEL(rgbd6OdomScan2d); SYNC_DEL(rgbd6OdomScan3d); SYNC_DEL(rgbd6OdomScanDesc); SYNC_DEL(rgbd6OdomInfo); #endif //RTABMAP_SYNC_MULTI_RGBD // Scan SYNC_DEL(scan2dInfo); SYNC_DEL(scan3dInfo); // Scan + Odom SYNC_DEL(odomScan2d); SYNC_DEL(odomScan3d); SYNC_DEL(odomScanDesc); SYNC_DEL(odomScan2dInfo); SYNC_DEL(odomScan3dInfo); SYNC_DEL(odomScanDescInfo); #ifdef RTABMAP_SYNC_USER_DATA // Scan + User Data SYNC_DEL(dataScan2d); SYNC_DEL(dataScan3d); SYNC_DEL(dataScanDesc); SYNC_DEL(dataScan2dInfo); SYNC_DEL(dataScan3dInfo); SYNC_DEL(dataScanDescInfo); // Scan + Odom + User Data SYNC_DEL(odomDataScan2d); SYNC_DEL(odomDataScan3d); SYNC_DEL(odomDataScanDesc); SYNC_DEL(odomDataScan2dInfo); SYNC_DEL(odomDataScan3dInfo); SYNC_DEL(odomDataScanDescInfo); #endif // Odom SYNC_DEL(odomInfo); #ifdef RTABMAP_SYNC_USER_DATA // Odom + User Data SYNC_DEL(odomData); SYNC_DEL(odomDataInfo); #endif for(unsigned int i=0; i & globalDescriptorMsgs, const std::vector & localKeyPoints, const std::vector & localPoints3d, const cv::Mat & localDescriptors) { callbackCalled(); std::vector > localKeyPointsMsgs; localKeyPointsMsgs.push_back(localKeyPoints); std::vector > localPoints3dMsgs; localPoints3dMsgs.push_back(localPoints3d); std::vector localDescriptorsMsgs; localDescriptorsMsgs.push_back(localDescriptors); std::vector imageMsgs; std::vector depthMsgs; std::vector cameraInfoMsgs; std::vector depthCameraInfoMsgs; if(imageMsg.get()) { imageMsgs.push_back(imageMsg); } if(depthMsg.get()) { depthMsgs.push_back(depthMsg); } cameraInfoMsgs.push_back(rgbCameraInfoMsg); depthCameraInfoMsgs.push_back(depthCameraInfoMsg); commonMultiCameraCallback( odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPointsMsgs, localPoints3dMsgs, localDescriptorsMsgs); } } /* namespace rtabmap_ros */