mirror of
https://github.com/introlab/rtabmap_ros.git
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432 lines
16 KiB
C++
432 lines
16 KiB
C++
/*
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Copyright (c) 2010-2019, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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* Neither the name of the Universite de Sherbrooke nor the
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names of its contributors may be used to endorse or promote products
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derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
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DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#include <rtabmap_util/point_cloud_aggregator.hpp>
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#include <pcl/point_cloud.h>
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#include <pcl/point_types.h>
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#include <pcl_conversions/pcl_conversions.h>
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#include <rtabmap_conversions/MsgConversion.h>
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#include <rtabmap/utilite/UConversion.h>
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#include <rtabmap/utilite/ULogger.h>
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#include <rtabmap/core/util3d_filtering.h>
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namespace rtabmap_util
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{
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PointCloudAggregator::PointCloudAggregator(const rclcpp::NodeOptions & options) :
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Node("point_cloud_aggregator", options),
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warningThread_(0),
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callbackCalled_(false),
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exactSync4_(0),
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approxSync4_(0),
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exactSync3_(0),
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approxSync3_(0),
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exactSync2_(0),
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approxSync2_(0),
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waitForTransform_(0.1),
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xyzOutput_(false)
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{
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tfBuffer_ = std::make_shared<tf2_ros::Buffer>(this->get_clock());
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//auto timer_interface = std::make_shared<tf2_ros::CreateTimerROS>(
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// this->get_node_base_interface(),
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// this->get_node_timers_interface());
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//tfBuffer_->setCreateTimerInterface(timer_interface);
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tfListener_ = std::make_shared<tf2_ros::TransformListener>(*tfBuffer_);
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int topicQueueSize = 1;
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int syncQueueSize = 5;
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int count = 2;
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bool approx=true;
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double approxSyncMaxInterval = 0.0;
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int qos=RMW_QOS_POLICY_RELIABILITY_SYSTEM_DEFAULT;
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topicQueueSize = this->declare_parameter("topic_queue_size", topicQueueSize);
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int queueSize = this->declare_parameter("queue_size", -1);
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if(queueSize != -1)
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{
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syncQueueSize = queueSize;
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RCLCPP_WARN(this->get_logger(), "Parameter \"queue_size\" has been renamed "
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"to \"sync_queue_size\" and will be removed "
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"in future versions! The value (%d) is copied to "
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"\"sync_queue_size\".", syncQueueSize);
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}
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syncQueueSize = this->declare_parameter("sync_queue_size", syncQueueSize);
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qos = this->declare_parameter("qos", qos);
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frameId_ = this->declare_parameter("frame_id", frameId_);
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fixedFrameId_ = this->declare_parameter("fixed_frame_id", fixedFrameId_);
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approx = this->declare_parameter("approx_sync", approx);
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approxSyncMaxInterval = this->declare_parameter("approx_sync_max_interval", approxSyncMaxInterval);
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count = this->declare_parameter("count", count);
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waitForTransform_ = this->declare_parameter("wait_for_transform", waitForTransform_);
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xyzOutput_ = this->declare_parameter("xyz_output", xyzOutput_);
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cloudPub_ = create_publisher<sensor_msgs::msg::PointCloud2>("combined_cloud", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos));
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cloudSub_1_.subscribe(this, "cloud1", RCLCPP_QOS(topicQueueSize, qos));
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cloudSub_2_.subscribe(this, "cloud2", RCLCPP_QOS(topicQueueSize, qos));
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std::string subscribedTopicsMsg;
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if(count == 4)
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{
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cloudSub_3_.subscribe(this, "cloud3", RCLCPP_QOS(topicQueueSize, qos));
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cloudSub_4_.subscribe(this, "cloud4", RCLCPP_QOS(topicQueueSize, qos));
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if(approx)
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{
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approxSync4_ = new message_filters::Synchronizer<ApproxSync4Policy>(ApproxSync4Policy(syncQueueSize), cloudSub_1_, cloudSub_2_, cloudSub_3_, cloudSub_4_);
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if(approxSyncMaxInterval > 0.0)
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approxSync4_->setMaxIntervalDuration(rclcpp::Duration::from_seconds(approxSyncMaxInterval));
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approxSync4_->registerCallback(std::bind(&rtabmap_util::PointCloudAggregator::clouds4_callback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3, std::placeholders::_4));
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}
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else
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{
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exactSync4_ = new message_filters::Synchronizer<ExactSync4Policy>(ExactSync4Policy(syncQueueSize), cloudSub_1_, cloudSub_2_, cloudSub_3_, cloudSub_4_);
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exactSync4_->registerCallback(std::bind(&rtabmap_util::PointCloudAggregator::clouds4_callback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3, std::placeholders::_4));
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}
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subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync%s):\n %s,\n %s,\n %s,\n %s",
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get_name(),
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approx?"approx":"exact",
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approx&&approxSyncMaxInterval!=0.0?uFormat(", max interval=%fs", approxSyncMaxInterval).c_str():"",
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cloudSub_1_.getSubscriber()->get_topic_name(),
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cloudSub_2_.getSubscriber()->get_topic_name(),
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cloudSub_3_.getSubscriber()->get_topic_name(),
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cloudSub_4_.getSubscriber()->get_topic_name());
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}
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else if(count == 3)
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{
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cloudSub_3_.subscribe(this, "cloud3", RCLCPP_QOS(topicQueueSize, qos));
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if(approx)
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{
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approxSync3_ = new message_filters::Synchronizer<ApproxSync3Policy>(ApproxSync3Policy(syncQueueSize), cloudSub_1_, cloudSub_2_, cloudSub_3_);
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if(approxSyncMaxInterval > 0.0)
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approxSync3_->setMaxIntervalDuration(rclcpp::Duration::from_seconds(approxSyncMaxInterval));
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approxSync3_->registerCallback(std::bind(&rtabmap_util::PointCloudAggregator::clouds3_callback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
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}
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else
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{
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exactSync3_ = new message_filters::Synchronizer<ExactSync3Policy>(ExactSync3Policy(syncQueueSize), cloudSub_1_, cloudSub_2_, cloudSub_3_);
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exactSync3_->registerCallback(std::bind(&rtabmap_util::PointCloudAggregator::clouds3_callback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
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}
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subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync%s):\n %s,\n %s,\n %s",
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this->get_name(),
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approx?"approx":"exact",
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approx&&approxSyncMaxInterval!=0.0?uFormat(", max interval=%fs", approxSyncMaxInterval).c_str():"",
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cloudSub_1_.getSubscriber()->get_topic_name(),
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cloudSub_2_.getSubscriber()->get_topic_name(),
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cloudSub_3_.getSubscriber()->get_topic_name());
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}
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else
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{
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if(approx)
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{
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approxSync2_ = new message_filters::Synchronizer<ApproxSync2Policy>(ApproxSync2Policy(syncQueueSize), cloudSub_1_, cloudSub_2_);
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if(approxSyncMaxInterval > 0.0)
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approxSync2_->setMaxIntervalDuration(rclcpp::Duration::from_seconds(approxSyncMaxInterval));
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approxSync2_->registerCallback(std::bind(&rtabmap_util::PointCloudAggregator::clouds2_callback, this, std::placeholders::_1, std::placeholders::_2));
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}
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else
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{
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exactSync2_ = new message_filters::Synchronizer<ExactSync2Policy>(ExactSync2Policy(syncQueueSize), cloudSub_1_, cloudSub_2_);
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exactSync2_->registerCallback(std::bind(&rtabmap_util::PointCloudAggregator::clouds2_callback, this, std::placeholders::_1, std::placeholders::_2));
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}
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subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync%s):\n %s,\n %s",
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this->get_name(),
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approx?"approx":"exact",
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approx&&approxSyncMaxInterval!=0.0?uFormat(", max interval=%fs", approxSyncMaxInterval).c_str():"",
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cloudSub_1_.getSubscriber()->get_topic_name(),
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cloudSub_2_.getSubscriber()->get_topic_name());
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}
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warningThread_ = new std::thread([&](){
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rclcpp::Rate r(1.0/5.0);
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while(!callbackCalled_)
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{
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r.sleep();
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if(!callbackCalled_)
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{
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RCLCPP_WARN(this->get_logger(), "%s: Did not receive data since 5 seconds! Make sure the input topics are "
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"published (\"$ ros2 topic hz my_topic\") and the timestamps in their "
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"header are set. %s%s",
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this->get_name(),
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approx?"":"Parameter \"approx_sync\" is false, which means that input "
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"topics should have all the exact timestamp for the callback to be called.",
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subscribedTopicsMsg.c_str());
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}
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}
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});
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RCLCPP_INFO(this->get_logger(), "%s", subscribedTopicsMsg.c_str());
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}
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PointCloudAggregator::~PointCloudAggregator()
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{
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delete exactSync4_;
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delete approxSync4_;
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delete exactSync3_;
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delete approxSync3_;
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delete exactSync2_;
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delete approxSync2_;
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if(warningThread_)
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{
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callbackCalled_=true;
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warningThread_->join();
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delete warningThread_;
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}
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}
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void PointCloudAggregator::clouds4_callback(const sensor_msgs::msg::PointCloud2::ConstSharedPtr cloudMsg_1,
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const sensor_msgs::msg::PointCloud2::ConstSharedPtr cloudMsg_2,
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const sensor_msgs::msg::PointCloud2::ConstSharedPtr cloudMsg_3,
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const sensor_msgs::msg::PointCloud2::ConstSharedPtr cloudMsg_4)
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{
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std::vector<sensor_msgs::msg::PointCloud2::ConstSharedPtr> clouds;
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clouds.push_back(cloudMsg_1);
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clouds.push_back(cloudMsg_2);
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clouds.push_back(cloudMsg_3);
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clouds.push_back(cloudMsg_4);
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combineClouds(clouds);
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}
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void PointCloudAggregator::clouds3_callback(const sensor_msgs::msg::PointCloud2::ConstSharedPtr cloudMsg_1,
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const sensor_msgs::msg::PointCloud2::ConstSharedPtr cloudMsg_2,
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const sensor_msgs::msg::PointCloud2::ConstSharedPtr cloudMsg_3)
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{
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std::vector<sensor_msgs::msg::PointCloud2::ConstSharedPtr> clouds;
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clouds.push_back(cloudMsg_1);
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clouds.push_back(cloudMsg_2);
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clouds.push_back(cloudMsg_3);
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combineClouds(clouds);
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}
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void PointCloudAggregator::clouds2_callback(const sensor_msgs::msg::PointCloud2::ConstSharedPtr cloudMsg_1,
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const sensor_msgs::msg::PointCloud2::ConstSharedPtr cloudMsg_2)
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{
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std::vector<sensor_msgs::msg::PointCloud2::ConstSharedPtr> clouds;
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clouds.push_back(cloudMsg_1);
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clouds.push_back(cloudMsg_2);
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combineClouds(clouds);
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}
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void PointCloudAggregator::combineClouds(const std::vector<sensor_msgs::msg::PointCloud2::ConstSharedPtr> & cloudMsgs)
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{
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callbackCalled_ = true;
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UASSERT(cloudMsgs.size() > 1);
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if(cloudPub_->get_subscription_count())
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{
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pcl::PCLPointCloud2::Ptr output(new pcl::PCLPointCloud2);
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std::string frameId = frameId_;
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if(!frameId.empty() && frameId.compare(cloudMsgs[0]->header.frame_id) != 0)
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{
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sensor_msgs::msg::PointCloud2 tmp;
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rtabmap::Transform t = rtabmap_conversions::getTransform(frameId, cloudMsgs[0]->header.frame_id, cloudMsgs[0]->header.stamp, *tfBuffer_, waitForTransform_);
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if(t.isNull())
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{
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return;
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}
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rtabmap_conversions::transformPointCloud(t.toEigen4f(), *cloudMsgs[0], tmp);
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pcl_conversions::toPCL(tmp, *output);
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}
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else
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{
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pcl_conversions::toPCL(*cloudMsgs[0], *output);
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frameId = cloudMsgs[0]->header.frame_id;
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}
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if(xyzOutput_ && !output->data.empty())
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{
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// convert only if not already XYZ cloud
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bool hasField[4] = {false};
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for(size_t i=0; i<output->fields.size(); ++i)
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{
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if(output->fields[i].name.compare("x") == 0)
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{
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hasField[0] = true;
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}
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else if(output->fields[i].name.compare("y") == 0)
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{
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hasField[1] = true;
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}
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else if(output->fields[i].name.compare("z") == 0)
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{
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hasField[2] = true;
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}
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else
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{
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hasField[3] = true; // other
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break;
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}
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}
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if(hasField[0] && hasField[1] && hasField[2] && !hasField[3])
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{
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// do nothing, already XYZ
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}
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else
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{
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pcl::PointCloud<pcl::PointXYZ> cloudxyz;
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pcl::fromPCLPointCloud2(*output, cloudxyz);
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pcl::toPCLPointCloud2(cloudxyz, *output);
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}
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}
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for(unsigned int i=1; i<cloudMsgs.size(); ++i)
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{
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rtabmap::Transform cloudDisplacement;
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if(!fixedFrameId_.empty() &&
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cloudMsgs[0]->header.stamp != cloudMsgs[i]->header.stamp)
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{
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// approx sync
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cloudDisplacement = rtabmap_conversions::getMovingTransform(
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frameId, //sourceTargetFrame
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fixedFrameId_, //fixedFrame
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cloudMsgs[0]->header.stamp, //stampTarget
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cloudMsgs[i]->header.stamp, //stampSource
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*tfBuffer_,
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waitForTransform_);
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}
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pcl::PCLPointCloud2::Ptr cloud2(new pcl::PCLPointCloud2);
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if(frameId.compare(cloudMsgs[i]->header.frame_id) != 0)
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{
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sensor_msgs::msg::PointCloud2 tmp;
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rtabmap::Transform t = rtabmap_conversions::getTransform(frameId, cloudMsgs[i]->header.frame_id, cloudMsgs[i]->header.stamp, *tfBuffer_, waitForTransform_);
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rtabmap_conversions::transformPointCloud(t.toEigen4f(), *cloudMsgs[i], tmp);
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if(!cloudDisplacement.isNull())
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{
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sensor_msgs::msg::PointCloud2 tmp2;
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rtabmap_conversions::transformPointCloud(cloudDisplacement.toEigen4f(), tmp, tmp2);
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pcl_conversions::toPCL(tmp2, *cloud2);
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}
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else
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{
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pcl_conversions::toPCL(tmp, *cloud2);
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}
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}
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else
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{
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if(!cloudDisplacement.isNull())
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{
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sensor_msgs::msg::PointCloud2 tmp;
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rtabmap_conversions::transformPointCloud(cloudDisplacement.toEigen4f(), *cloudMsgs[i], tmp);
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pcl_conversions::toPCL(tmp, *cloud2);
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}
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else
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{
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pcl_conversions::toPCL(*cloudMsgs[i], *cloud2);
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}
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}
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if(!cloud2->is_dense)
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{
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// remove nans
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cloud2 = rtabmap::util3d::removeNaNFromPointCloud(cloud2);
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}
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if(xyzOutput_ && !cloud2->data.empty())
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{
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// convert only if not already XYZ cloud
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bool hasField[4] = {false};
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for(size_t i=0; i<cloud2->fields.size(); ++i)
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{
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if(cloud2->fields[i].name.compare("x") == 0)
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{
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hasField[0] = true;
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}
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else if(cloud2->fields[i].name.compare("y") == 0)
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{
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hasField[1] = true;
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}
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else if(cloud2->fields[i].name.compare("z") == 0)
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{
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hasField[2] = true;
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}
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else
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{
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hasField[3] = true; // other
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break;
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}
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}
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if(hasField[0] && hasField[1] && hasField[2] && !hasField[3])
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{
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// do nothing, already XYZ
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}
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else
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{
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pcl::PointCloud<pcl::PointXYZ> cloudxyz;
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pcl::fromPCLPointCloud2(*cloud2, cloudxyz);
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pcl::toPCLPointCloud2(cloudxyz, *cloud2);
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}
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}
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if(output->data.empty())
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{
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output = cloud2;
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}
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else if(!cloud2->data.empty())
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{
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if(output->fields.size() != cloud2->fields.size())
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{
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RCLCPP_WARN(this->get_logger(), "%s: Input topics don't have all the "
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"same number of fields (cloud1=%d, cloud%d=%d), concatenation "
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"may fails. You can enable \"xyz_output\" option "
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"to convert all inputs to XYZ.",
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get_name(),
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(int)output->fields.size(),
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i+1,
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(int)output->fields.size());
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}
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pcl::PCLPointCloud2::Ptr tmp_output(new pcl::PCLPointCloud2);
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#if PCL_VERSION_COMPARE(>=, 1, 10, 0)
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pcl::concatenate(*output, *cloud2, *tmp_output);
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#else
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pcl::concatenatePointCloud(*output, *cloud2, *tmp_output);
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#endif
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//Make sure row_step is the sum of both
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tmp_output->row_step = tmp_output->width * tmp_output->point_step;
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output = tmp_output;
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}
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}
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sensor_msgs::msg::PointCloud2::UniquePtr rosCloud(new sensor_msgs::msg::PointCloud2);
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pcl_conversions::moveFromPCL(*output, *rosCloud);
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rosCloud->header.stamp = cloudMsgs[0]->header.stamp;
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rosCloud->header.frame_id = frameId;
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cloudPub_->publish(std::move(rosCloud));
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}
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}
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}
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#include "rclcpp_components/register_node_macro.hpp"
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// Register the component with class_loader.
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// This acts as a sort of entry point, allowing the component to be discoverable when its library
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// is being loaded into a running process.
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RCLCPP_COMPONENTS_REGISTER_NODE(rtabmap_util::PointCloudAggregator)
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