mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-05 01:07:49 +08:00
matlabbeandBorong Yuan
c956e3780f
* Fixed odometry latency
* Fixed node ID=0 issues as msgs may not have seq. (#1202)
(cherry picked from commit 097cab0667)
* 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)
* Changed a log from info->debug
* Changed a log from info->debug
* Updated default topic and sync queue_size inside nodes. Exposing topic and sync queue size params in warning when cannot synchronize. Added zed and depthai examples. Odom: Fixed imu callback group, added multi-threaded executors for all odometry nodes.
* fixed merge
* Include everything needed in example launch files for simple launch. Small fixes.
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Co-authored-by: Borong Yuan <[email protected]>
80 lines
3.0 KiB
C++
80 lines
3.0 KiB
C++
/*
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Copyright (c) 2010-2016, 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_odom/icp_odometry.hpp"
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#include "rclcpp/rclcpp.hpp"
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int main(int argc, char **argv)
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{
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ULogger::setType(ULogger::kTypeConsole);
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ULogger::setLevel(ULogger::kWarning);
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// process "--params" argument
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std::vector<std::string> arguments;
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for(int i=1;i<argc;++i)
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{
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if(strcmp(argv[i], "--params") == 0)
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{
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rtabmap::ParametersMap parametersOdom = rtabmap::Parameters::getDefaultOdometryParameters(false, false, true);
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for(rtabmap::ParametersMap::iterator iter=parametersOdom.begin(); iter!=parametersOdom.end(); ++iter)
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{
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std::string str = "Param: " + iter->first + " = \"" + iter->second + "\"";
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std::cout <<
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str <<
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std::setw(60 - str.size()) <<
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" [" <<
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rtabmap::Parameters::getDescription(iter->first).c_str() <<
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"]" <<
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std::endl;
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}
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UWARN("Node will now exit after showing default odometry parameters because "
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"argument \"--params\" is detected!");
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exit(0);
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}
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else if(strcmp(argv[i], "--udebug") == 0)
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{
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ULogger::setLevel(ULogger::kDebug);
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}
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else if(strcmp(argv[i], "--uinfo") == 0)
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{
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ULogger::setLevel(ULogger::kInfo);
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}
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arguments.push_back(argv[i]);
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}
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rclcpp::init(argc, argv);
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rclcpp::NodeOptions options;
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options.arguments(arguments);
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auto node = std::make_shared<rtabmap_odom::ICPOdometry>(options);
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rclcpp::executors::MultiThreadedExecutor executor;
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executor.add_node(node);
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executor.spin();
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rclcpp::shutdown();
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return 0;
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}
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