X-lanni
540 lines
25 KiB
C++
540 lines
25 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_sync/CommonDataSubscriber.h>
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#include <rtabmap/utilite/UConversion.h>
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#include <rtabmap/core/Compression.h>
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#include <rtabmap_conversions/MsgConversion.h>
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namespace rtabmap_sync {
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#define IMAGE_CONVERSION() \
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if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(imagesMsg->header.stamp);} \
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UASSERT(!imagesMsg->rgbd_images.empty()); \
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std::vector<cv_bridge::CvImageConstPtr> imageMsgs(imagesMsg->rgbd_images.size()); \
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std::vector<cv_bridge::CvImageConstPtr> depthMsgs(imagesMsg->rgbd_images.size()); \
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std::vector<sensor_msgs::msg::CameraInfo> cameraInfoMsgs; \
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std::vector<sensor_msgs::msg::CameraInfo> depthCameraInfoMsgs; \
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std::vector<rtabmap_msgs::msg::GlobalDescriptor> globalDescriptorMsgs; \
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std::vector<std::vector<rtabmap_msgs::msg::KeyPoint> > localKeyPoints; \
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std::vector<std::vector<rtabmap_msgs::msg::Point3f> > localPoints3d; \
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std::vector<cv::Mat> localDescriptors; \
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for(size_t i=0; i<imageMsgs.size(); ++i) \
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{ \
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rtabmap_conversions::toCvShare(imagesMsg->rgbd_images[i], imagesMsg, imageMsgs[i], depthMsgs[i]); \
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cameraInfoMsgs.push_back(imagesMsg->rgbd_images[i].rgb_camera_info); \
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depthCameraInfoMsgs.push_back(imagesMsg->rgbd_images[i].depth_camera_info); \
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if(!imagesMsg->rgbd_images[i].global_descriptor.data.empty()) \
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globalDescriptorMsgs.push_back(imagesMsg->rgbd_images[i].global_descriptor); \
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localKeyPoints.push_back(imagesMsg->rgbd_images[i].key_points); \
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localPoints3d.push_back(imagesMsg->rgbd_images[i].points); \
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localDescriptors.push_back(rtabmap::uncompressData(imagesMsg->rgbd_images[i].descriptors)); \
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} \
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if(!depthMsgs[0].get()) \
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depthMsgs.clear();
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// X RGBD
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void CommonDataSubscriber::rgbdXCallback(
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const rtabmap_msgs::msg::RGBDImages::ConstSharedPtr imagesMsg)
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{
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IMAGE_CONVERSION();
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nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // Null
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rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
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sensor_msgs::msg::LaserScan scanMsg; // Null
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sensor_msgs::msg::PointCloud2 scan3dMsg; // null
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rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg; // null
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commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
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}
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void CommonDataSubscriber::rgbdXScan2dCallback(
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const rtabmap_msgs::msg::RGBDImages::ConstSharedPtr imagesMsg,
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const sensor_msgs::msg::LaserScan::ConstSharedPtr scanMsg)
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{
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IMAGE_CONVERSION();
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nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // Null
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rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
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sensor_msgs::msg::PointCloud2 scan3dMsg; // null
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rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg; // null
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commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, *scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
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}
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void CommonDataSubscriber::rgbdXScan3dCallback(
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const rtabmap_msgs::msg::RGBDImages::ConstSharedPtr imagesMsg,
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const sensor_msgs::msg::PointCloud2::ConstSharedPtr scan3dMsg)
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{
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IMAGE_CONVERSION();
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nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // Null
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rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
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sensor_msgs::msg::LaserScan scanMsg; // Null
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rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg; // null
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commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg, *scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
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}
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void CommonDataSubscriber::rgbdXScanDescCallback(
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const rtabmap_msgs::msg::RGBDImages::ConstSharedPtr imagesMsg,
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const rtabmap_msgs::msg::ScanDescriptor::ConstSharedPtr scanDescMsg)
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{
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IMAGE_CONVERSION();
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nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // Null
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rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
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rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg; // null
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if(!scanDescMsg->global_descriptor.data.empty())
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{
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globalDescriptorMsgs.push_back(scanDescMsg->global_descriptor);
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}
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commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanDescMsg->scan, scanDescMsg->scan_cloud, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
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}
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void CommonDataSubscriber::rgbdXInfoCallback(
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const rtabmap_msgs::msg::RGBDImages::ConstSharedPtr imagesMsg,
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const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg)
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{
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IMAGE_CONVERSION();
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nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // Null
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rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
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sensor_msgs::msg::LaserScan scanMsg; // Null
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sensor_msgs::msg::PointCloud2 scan3dMsg; // null
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commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
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}
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// X RGBD + Odom
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void CommonDataSubscriber::rgbdXOdomCallback(
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const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
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const rtabmap_msgs::msg::RGBDImages::ConstSharedPtr imagesMsg)
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{
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IMAGE_CONVERSION();
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rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
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sensor_msgs::msg::LaserScan scanMsg; // Null
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sensor_msgs::msg::PointCloud2 scan3dMsg; // null
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rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg; // null
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commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
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}
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void CommonDataSubscriber::rgbdXOdomScan2dCallback(
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const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
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const rtabmap_msgs::msg::RGBDImages::ConstSharedPtr imagesMsg,
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const sensor_msgs::msg::LaserScan::ConstSharedPtr scanMsg)
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{
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IMAGE_CONVERSION();
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rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
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sensor_msgs::msg::PointCloud2 scan3dMsg; // null
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rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg; // null
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commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, *scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
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}
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void CommonDataSubscriber::rgbdXOdomScan3dCallback(
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const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
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const rtabmap_msgs::msg::RGBDImages::ConstSharedPtr imagesMsg,
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const sensor_msgs::msg::PointCloud2::ConstSharedPtr scan3dMsg)
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{
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IMAGE_CONVERSION();
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rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
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sensor_msgs::msg::LaserScan scanMsg; // Null
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rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg; // null
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commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg, *scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
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}
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void CommonDataSubscriber::rgbdXOdomScanDescCallback(
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const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
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const rtabmap_msgs::msg::RGBDImages::ConstSharedPtr imagesMsg,
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const rtabmap_msgs::msg::ScanDescriptor::ConstSharedPtr scanDescMsg)
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{
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IMAGE_CONVERSION();
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rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
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rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg; // null
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if(!scanDescMsg->global_descriptor.data.empty())
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{
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globalDescriptorMsgs.push_back(scanDescMsg->global_descriptor);
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}
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commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanDescMsg->scan, scanDescMsg->scan_cloud, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
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}
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void CommonDataSubscriber::rgbdXOdomInfoCallback(
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const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
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const rtabmap_msgs::msg::RGBDImages::ConstSharedPtr imagesMsg,
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const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg)
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{
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IMAGE_CONVERSION();
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rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg; // Null
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sensor_msgs::msg::LaserScan scanMsg; // Null
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sensor_msgs::msg::PointCloud2 scan3dMsg; // null
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commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
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}
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#ifdef RTABMAP_SYNC_USER_DATA
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// X RGBD + User Data
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void CommonDataSubscriber::rgbdXDataCallback(
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const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg,
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const rtabmap_msgs::msg::RGBDImages::ConstSharedPtr imagesMsg)
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{
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IMAGE_CONVERSION();
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nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // Null
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sensor_msgs::msg::LaserScan scanMsg; // Null
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sensor_msgs::msg::PointCloud2 scan3dMsg; // null
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rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg; // null
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commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
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}
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void CommonDataSubscriber::rgbdXDataScan2dCallback(
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const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg,
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const rtabmap_msgs::msg::RGBDImages::ConstSharedPtr imagesMsg,
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const sensor_msgs::msg::LaserScan::ConstSharedPtr scanMsg)
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{
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IMAGE_CONVERSION();
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nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // Null
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sensor_msgs::msg::PointCloud2 scan3dMsg; // null
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rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg; // null
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commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, *scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
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}
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void CommonDataSubscriber::rgbdXDataScan3dCallback(
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const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg,
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const rtabmap_msgs::msg::RGBDImages::ConstSharedPtr imagesMsg,
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const sensor_msgs::msg::PointCloud2::ConstSharedPtr scan3dMsg)
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{
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IMAGE_CONVERSION();
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nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // Null
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sensor_msgs::msg::LaserScan scanMsg; // Null
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rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg; // null
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commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg, *scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
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}
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void CommonDataSubscriber::rgbdXDataScanDescCallback(
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const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg,
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const rtabmap_msgs::msg::RGBDImages::ConstSharedPtr imagesMsg,
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const rtabmap_msgs::msg::ScanDescriptor::ConstSharedPtr scanDescMsg)
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{
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IMAGE_CONVERSION();
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nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // Null
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rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg; // null
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if(!scanDescMsg->global_descriptor.data.empty())
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{
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globalDescriptorMsgs.push_back(scanDescMsg->global_descriptor);
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}
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commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanDescMsg->scan, scanDescMsg->scan_cloud, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
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}
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void CommonDataSubscriber::rgbdXDataInfoCallback(
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const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg,
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const rtabmap_msgs::msg::RGBDImages::ConstSharedPtr imagesMsg,
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const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg)
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{
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IMAGE_CONVERSION();
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nav_msgs::msg::Odometry::ConstSharedPtr odomMsg; // Null
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sensor_msgs::msg::LaserScan scanMsg; // Null
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sensor_msgs::msg::PointCloud2 scan3dMsg; // null
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commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
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}
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// X RGBD + Odom + User Data
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void CommonDataSubscriber::rgbdXOdomDataCallback(
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const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
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const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg,
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const rtabmap_msgs::msg::RGBDImages::ConstSharedPtr imagesMsg)
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{
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IMAGE_CONVERSION();
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sensor_msgs::msg::LaserScan scanMsg; // Null
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sensor_msgs::msg::PointCloud2 scan3dMsg; // null
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rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg; // null
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commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
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}
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void CommonDataSubscriber::rgbdXOdomDataScan2dCallback(
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const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
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const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg,
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const rtabmap_msgs::msg::RGBDImages::ConstSharedPtr imagesMsg,
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const sensor_msgs::msg::LaserScan::ConstSharedPtr scanMsg)
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{
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IMAGE_CONVERSION();
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sensor_msgs::msg::PointCloud2 scan3dMsg; // null
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rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg; // null
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commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, *scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
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}
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void CommonDataSubscriber::rgbdXOdomDataScan3dCallback(
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const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
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const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg,
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const rtabmap_msgs::msg::RGBDImages::ConstSharedPtr imagesMsg,
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const sensor_msgs::msg::PointCloud2::ConstSharedPtr scan3dMsg)
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{
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IMAGE_CONVERSION();
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sensor_msgs::msg::LaserScan scanMsg; // Null
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rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg; // null
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commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg, *scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
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}
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void CommonDataSubscriber::rgbdXOdomDataScanDescCallback(
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const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
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const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg,
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const rtabmap_msgs::msg::RGBDImages::ConstSharedPtr imagesMsg,
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const rtabmap_msgs::msg::ScanDescriptor::ConstSharedPtr scanDescMsg)
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{
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IMAGE_CONVERSION();
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rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg; // null
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if(!scanDescMsg->global_descriptor.data.empty())
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{
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globalDescriptorMsgs.push_back(scanDescMsg->global_descriptor);
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}
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commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanDescMsg->scan, scanDescMsg->scan_cloud, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
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}
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void CommonDataSubscriber::rgbdXOdomDataInfoCallback(
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const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
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const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg,
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const rtabmap_msgs::msg::RGBDImages::ConstSharedPtr imagesMsg,
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const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg)
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{
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IMAGE_CONVERSION();
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sensor_msgs::msg::LaserScan scanMsg; // Null
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sensor_msgs::msg::PointCloud2 scan3dMsg; // null
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commonMultiCameraCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, depthCameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg, globalDescriptorMsgs, localKeyPoints, localPoints3d, localDescriptors);
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}
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#endif
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void CommonDataSubscriber::setupRGBDXCallbacks(
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rclcpp::Node& node,
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const rclcpp::SubscriptionOptions & options,
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bool subscribeOdom,
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#ifdef RTABMAP_SYNC_USER_DATA
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bool subscribeUserData,
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#else
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bool,
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#endif
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bool subscribeScan2d,
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bool subscribeScan3d,
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bool subscribeScanDesc,
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bool subscribeOdomInfo)
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{
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RCLCPP_INFO(node.get_logger(), "Setup rgbdX callback");
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rgbdXSub_.subscribe(&node, "rgbd_images", rclcpp::QoS(topicQueueSize_).reliability(qosImage_).get_rmw_qos_profile(), options);
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#ifdef RTABMAP_SYNC_USER_DATA
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if(subscribeOdom && subscribeUserData)
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{
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odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
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userDataSub_.subscribe(&node, "user_data", rclcpp::QoS(topicQueueSize_).reliability(qosUserData_).get_rmw_qos_profile(), options);
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if(subscribeScanDesc)
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{
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subscribedToScanDescriptor_ = true;
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scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
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if(subscribeOdomInfo)
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{
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subscribedToOdomInfo_ = false;
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RCLCPP_WARN(node.get_logger(), "subscribe_odom_info ignored...");
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}
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SYNC_DECL4(CommonDataSubscriber, rgbdXOdomDataScanDesc, approxSync_, syncQueueSize_, odomSub_, userDataSub_, rgbdXSub_, scanDescSub_);
|
|
}
|
|
else if(subscribeScan2d)
|
|
{
|
|
subscribedToScan2d_ = true;
|
|
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
|
|
if(subscribeOdomInfo)
|
|
{
|
|
subscribedToOdomInfo_ = false;
|
|
RCLCPP_WARN(node.get_logger(), "subscribe_odom_info ignored...");
|
|
}
|
|
SYNC_DECL4(CommonDataSubscriber, rgbdXOdomDataScan2d, approxSync_, syncQueueSize_, odomSub_, userDataSub_, rgbdXSub_, scanSub_);
|
|
}
|
|
else if(subscribeScan3d)
|
|
{
|
|
subscribedToScan3d_ = true;
|
|
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
|
|
if(subscribeOdomInfo)
|
|
{
|
|
subscribedToOdomInfo_ = false;
|
|
RCLCPP_WARN(node.get_logger(), "subscribe_odom_info ignored...");
|
|
}
|
|
SYNC_DECL4(CommonDataSubscriber, rgbdXOdomDataScan3d, approxSync_, syncQueueSize_, odomSub_, userDataSub_, rgbdXSub_, scan3dSub_);
|
|
}
|
|
else if(subscribeOdomInfo)
|
|
{
|
|
subscribedToOdomInfo_ = true;
|
|
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
|
|
SYNC_DECL4(CommonDataSubscriber, rgbdXOdomDataInfo, approxSync_, syncQueueSize_, odomSub_, userDataSub_, rgbdXSub_, odomInfoSub_);
|
|
}
|
|
else
|
|
{
|
|
SYNC_DECL3(CommonDataSubscriber, rgbdXOdomData, approxSync_, syncQueueSize_, odomSub_, userDataSub_, rgbdXSub_);
|
|
}
|
|
}
|
|
else
|
|
#endif
|
|
if(subscribeOdom)
|
|
{
|
|
odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
|
|
if(subscribeScanDesc)
|
|
{
|
|
subscribedToScanDescriptor_ = true;
|
|
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
|
|
if(subscribeOdomInfo)
|
|
{
|
|
subscribedToOdomInfo_ = false;
|
|
RCLCPP_WARN(node.get_logger(), "subscribe_odom_info ignored...");
|
|
}
|
|
SYNC_DECL3(CommonDataSubscriber, rgbdXOdomScanDesc, approxSync_, syncQueueSize_, odomSub_, rgbdXSub_, scanDescSub_);
|
|
}
|
|
else if(subscribeScan2d)
|
|
{
|
|
subscribedToScan2d_ = true;
|
|
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
|
|
if(subscribeOdomInfo)
|
|
{
|
|
subscribedToOdomInfo_ = false;
|
|
RCLCPP_WARN(node.get_logger(), "subscribe_odom_info ignored...");
|
|
}
|
|
SYNC_DECL3(CommonDataSubscriber, rgbdXOdomScan2d, approxSync_, syncQueueSize_, odomSub_, rgbdXSub_, scanSub_);
|
|
}
|
|
else if(subscribeScan3d)
|
|
{
|
|
subscribedToScan3d_ = true;
|
|
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
|
|
if(subscribeOdomInfo)
|
|
{
|
|
subscribedToOdomInfo_ = false;
|
|
RCLCPP_WARN(node.get_logger(), "subscribe_odom_info ignored...");
|
|
}
|
|
SYNC_DECL3(CommonDataSubscriber, rgbdXOdomScan3d, approxSync_, syncQueueSize_, odomSub_, rgbdXSub_, scan3dSub_);
|
|
}
|
|
else if(subscribeOdomInfo)
|
|
{
|
|
subscribedToOdomInfo_ = true;
|
|
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
|
|
SYNC_DECL3(CommonDataSubscriber, rgbdXOdomInfo, approxSync_, syncQueueSize_, odomSub_, rgbdXSub_, odomInfoSub_);
|
|
}
|
|
else
|
|
{
|
|
SYNC_DECL2(CommonDataSubscriber, rgbdXOdom, approxSync_, syncQueueSize_, odomSub_, rgbdXSub_);
|
|
}
|
|
}
|
|
#ifdef RTABMAP_SYNC_USER_DATA
|
|
else if(subscribeUserData)
|
|
{
|
|
userDataSub_.subscribe(&node, "user_data", rclcpp::QoS(topicQueueSize_).reliability(qosUserData_).get_rmw_qos_profile(), options);
|
|
if(subscribeScanDesc)
|
|
{
|
|
subscribedToScanDescriptor_ = true;
|
|
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
|
|
if(subscribeOdomInfo)
|
|
{
|
|
subscribedToOdomInfo_ = false;
|
|
RCLCPP_WARN(node.get_logger(), "subscribe_odom_info ignored...");
|
|
}
|
|
SYNC_DECL3(CommonDataSubscriber, rgbdXDataScanDesc, approxSync_, syncQueueSize_, userDataSub_, rgbdXSub_, scanDescSub_);
|
|
}
|
|
else if(subscribeScan2d)
|
|
{
|
|
subscribedToScan2d_ = true;
|
|
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
|
|
if(subscribeOdomInfo)
|
|
{
|
|
subscribedToOdomInfo_ = false;
|
|
RCLCPP_WARN(node.get_logger(), "subscribe_odom_info ignored...");
|
|
}
|
|
SYNC_DECL3(CommonDataSubscriber, rgbdXDataScan2d, approxSync_, syncQueueSize_, userDataSub_, rgbdXSub_, scanSub_);
|
|
}
|
|
else if(subscribeScan3d)
|
|
{
|
|
subscribedToScan3d_ = true;
|
|
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
|
|
if(subscribeOdomInfo)
|
|
{
|
|
subscribedToOdomInfo_ = false;
|
|
RCLCPP_WARN(node.get_logger(), "subscribe_odom_info ignored...");
|
|
}
|
|
SYNC_DECL3(CommonDataSubscriber, rgbdXDataScan3d, approxSync_, syncQueueSize_, userDataSub_, rgbdXSub_, scan3dSub_);
|
|
}
|
|
else if(subscribeOdomInfo)
|
|
{
|
|
subscribedToOdomInfo_ = true;
|
|
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
|
|
SYNC_DECL3(CommonDataSubscriber, rgbdXDataInfo, approxSync_, syncQueueSize_, userDataSub_, rgbdXSub_, odomInfoSub_);
|
|
}
|
|
else
|
|
{
|
|
SYNC_DECL2(CommonDataSubscriber, rgbdXData, approxSync_, syncQueueSize_, userDataSub_, rgbdXSub_);
|
|
}
|
|
}
|
|
#endif
|
|
else
|
|
{
|
|
if(subscribeScanDesc)
|
|
{
|
|
subscribedToScanDescriptor_ = true;
|
|
scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
|
|
if(subscribeOdomInfo)
|
|
{
|
|
subscribedToOdomInfo_ = false;
|
|
RCLCPP_WARN(node.get_logger(), "subscribe_odom_info ignored...");
|
|
}
|
|
SYNC_DECL2(CommonDataSubscriber, rgbdXScanDesc, approxSync_, syncQueueSize_, rgbdXSub_, scanDescSub_);
|
|
}
|
|
else if(subscribeScan2d)
|
|
{
|
|
subscribedToScan2d_ = true;
|
|
scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
|
|
if(subscribeOdomInfo)
|
|
{
|
|
subscribedToOdomInfo_ = false;
|
|
RCLCPP_WARN(node.get_logger(), "subscribe_odom_info ignored...");
|
|
}
|
|
SYNC_DECL2(CommonDataSubscriber, rgbdXScan2d, approxSync_, syncQueueSize_, rgbdXSub_, scanSub_);
|
|
}
|
|
else if(subscribeScan3d)
|
|
{
|
|
subscribedToScan3d_ = true;
|
|
scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
|
|
if(subscribeOdomInfo)
|
|
{
|
|
subscribedToOdomInfo_ = false;
|
|
RCLCPP_WARN(node.get_logger(), "subscribe_odom_info ignored...");
|
|
}
|
|
SYNC_DECL2(CommonDataSubscriber, rgbdXScan3d, approxSync_, syncQueueSize_, rgbdXSub_, scan3dSub_);
|
|
}
|
|
else if(subscribeOdomInfo)
|
|
{
|
|
subscribedToOdomInfo_ = true;
|
|
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
|
|
SYNC_DECL2(CommonDataSubscriber, rgbdXInfo, approxSync_, syncQueueSize_, rgbdXSub_, odomInfoSub_);
|
|
}
|
|
else
|
|
{
|
|
rgbdXSub_.unsubscribe();
|
|
rgbdXSubOnly_ = node.create_subscription<rtabmap_msgs::msg::RGBDImages>("rgbd_images", rclcpp::QoS(topicQueueSize_).reliability(qosImage_), std::bind(&CommonDataSubscriber::rgbdXCallback, this, std::placeholders::_1));
|
|
|
|
subscribedTopicsMsg_ =
|
|
uFormat("\n%s subscribed to:\n %s",
|
|
node.get_name(),
|
|
rgbdXSubOnly_->get_topic_name());
|
|
}
|
|
}
|
|
}
|
|
|
|
} /* namespace rtabmap_sync */
|