X-lanni
117 lines
4.9 KiB
C++
117 lines
4.9 KiB
C++
/*
|
|
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 <rtabmap_sync/CommonDataSubscriber.h>
|
|
|
|
namespace rtabmap_sync {
|
|
|
|
void CommonDataSubscriber::odomCallback(
|
|
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg)
|
|
{
|
|
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(odomMsg->header.stamp);}
|
|
rtabmap_msgs::msg::UserData::SharedPtr userDataMsg; // Null
|
|
sensor_msgs::msg::PointCloud2::SharedPtr scan3dMsg; // Null
|
|
rtabmap_msgs::msg::OdomInfo::SharedPtr odomInfoMsg; // null
|
|
commonOdomCallback(odomMsg, userDataMsg, odomInfoMsg);
|
|
}
|
|
void CommonDataSubscriber::odomInfoCallback(
|
|
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
|
const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg)
|
|
{
|
|
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(odomMsg->header.stamp);}
|
|
rtabmap_msgs::msg::UserData::SharedPtr userDataMsg; // Null
|
|
sensor_msgs::msg::LaserScan::SharedPtr scan2dMsg; // Null
|
|
commonOdomCallback(odomMsg, userDataMsg, odomInfoMsg);
|
|
}
|
|
#ifdef RTABMAP_SYNC_USER_DATA
|
|
void CommonDataSubscriber::odomDataCallback(
|
|
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
|
const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg)
|
|
{
|
|
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(odomMsg->header.stamp);}
|
|
rtabmap_msgs::msg::OdomInfo::SharedPtr odomInfoMsg; // null
|
|
commonOdomCallback(odomMsg, userDataMsg, odomInfoMsg);
|
|
}
|
|
void CommonDataSubscriber::odomDataInfoCallback(
|
|
const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
|
|
const rtabmap_msgs::msg::UserData::ConstSharedPtr userDataMsg,
|
|
const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg)
|
|
{
|
|
if(syncDiagnostic_.get()) {syncDiagnostic_->tickInput(odomMsg->header.stamp);}
|
|
sensor_msgs::msg::PointCloud2::SharedPtr scan3dMsg; // Null
|
|
commonOdomCallback(odomMsg, userDataMsg, odomInfoMsg);
|
|
}
|
|
#endif
|
|
|
|
void CommonDataSubscriber::setupOdomCallbacks(
|
|
rclcpp::Node& node,
|
|
const rclcpp::SubscriptionOptions & options,
|
|
bool subscribeUserData,
|
|
bool subscribeOdomInfo)
|
|
{
|
|
RCLCPP_INFO(node.get_logger(), "Setup scan callback");
|
|
|
|
if(subscribeUserData || subscribeOdomInfo)
|
|
{
|
|
odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
|
|
|
|
#ifdef RTABMAP_SYNC_USER_DATA
|
|
if(subscribeUserData)
|
|
{
|
|
userDataSub_.subscribe(&node, "user_data", rclcpp::QoS(topicQueueSize_).reliability(qosUserData_).get_rmw_qos_profile(), options);
|
|
if(subscribeOdomInfo)
|
|
{
|
|
subscribedToOdomInfo_ = true;
|
|
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
|
|
SYNC_DECL3(CommonDataSubscriber, odomDataInfo, approxSync_, syncQueueSize_, odomSub_, userDataSub_, odomInfoSub_);
|
|
}
|
|
else
|
|
{
|
|
SYNC_DECL2(CommonDataSubscriber, odomData, approxSync_, syncQueueSize_, odomSub_, userDataSub_);
|
|
}
|
|
}
|
|
else
|
|
#endif
|
|
if(subscribeOdomInfo)
|
|
{
|
|
subscribedToOdomInfo_ = true;
|
|
odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
|
|
SYNC_DECL2(CommonDataSubscriber, odomInfo, approxSync_, syncQueueSize_, odomSub_, odomInfoSub_);
|
|
}
|
|
}
|
|
else
|
|
{
|
|
odomSubOnly_ = node.create_subscription<nav_msgs::msg::Odometry>("odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_), std::bind(&CommonDataSubscriber::odomCallback, this, std::placeholders::_1));
|
|
subscribedTopicsMsg_ =
|
|
uFormat("\n%s subscribed to:\n %s",
|
|
node.get_name(),
|
|
odomSubOnly_->get_topic_name());
|
|
}
|
|
}
|
|
|
|
} /* namespace rtabmap_sync */
|