Program Listing for File CommonDataSubscriber.h

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/*
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:
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      notice, this list of conditions and the following disclaimer.
    * Redistributions in binary form must reproduce the above copyright
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      documentation and/or other materials provided with the distribution.
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      names of its contributors may be used to endorse or promote products
      derived from this software without specific prior written permission.

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#ifndef INCLUDE_RTABMAP_ROS_COMMONDATASUBSCRIBER_H_
#define INCLUDE_RTABMAP_ROS_COMMONDATASUBSCRIBER_H_

#include <rtabmap_sync/visibility.h>
#include <message_filters/subscriber.h>
#include <message_filters/synchronizer.h>
#include <message_filters/sync_policies/approximate_time.h>
#include <message_filters/sync_policies/exact_time.h>

#include <image_transport/image_transport.hpp>
#include <image_transport/subscriber_filter.hpp>

#ifdef PRE_ROS_IRON
#include <cv_bridge/cv_bridge.h>
#else
#include <cv_bridge/cv_bridge.hpp>
#endif

#include <sensor_msgs/msg/point_cloud2.hpp>
#include <sensor_msgs/msg/image.hpp>
#include <sensor_msgs/msg/camera_info.hpp>
#include <sensor_msgs/msg/laser_scan.hpp>

#include <nav_msgs/msg/odometry.hpp>

#include <rtabmap_msgs/msg/rgbd_image.hpp>
#include <rtabmap_msgs/msg/rgbd_images.hpp>
#include <rtabmap_msgs/msg/user_data.hpp>
#include <rtabmap_msgs/msg/odom_info.hpp>
#include <rtabmap_msgs/msg/scan_descriptor.hpp>
#include <rtabmap_msgs/msg/sensor_data.hpp>
#include <rtabmap_sync/CommonDataSubscriberDefines.h>
#include <rtabmap_sync/SyncDiagnostic.h>

namespace rtabmap_sync {

class CommonDataSubscriber {
public:
    RTABMAP_SYNC_PUBLIC
    CommonDataSubscriber(rclcpp::Node & node, bool gui);
    virtual ~CommonDataSubscriber();

    bool isSubscribedToDepth() const  {return subscribedToDepth_;}
    bool isSubscribedToStereo() const {return subscribedToStereo_;}
    bool isSubscribedToRGB() const  {return subscribedToRGB_;}
    bool isSubscribedToOdom() const  {return subscribedToOdom_;}
    bool isSubscribedToRGBD() const   {return subscribedToRGBD_;}
    bool isSubscribedToScan2d() const {return subscribedToScan2d_;}
    bool isSubscribedToScan3d() const {return subscribedToScan3d_;}
    bool isSubscribedToSensorData() const {return subscribedToSensorData_;}
    bool isSubscribedToOdomInfo() const {return subscribedToOdomInfo_;}
    bool isDataSubscribed() const {return isSubscribedToDepth() || isSubscribedToStereo() || isSubscribedToRGBD() || isSubscribedToScan2d() || isSubscribedToScan3d() || isSubscribedToRGB() || isSubscribedToOdom() || isSubscribedToSensorData();}
    int rgbdCameras() const {return isSubscribedToRGBD()?(int)rgbdSubs_.size():0;}
    int getTopicQueueSize() const {return topicQueueSize_;}
    int getSyncQueueSize() const {return syncQueueSize_;}
    bool isApproxSync() const {return approxSync_;}
    const std::string & name() const {return name_;}

protected:
    void setupCallbacks(
            rclcpp::Node & node,
            std::vector<diagnostic_updater::DiagnosticTask*> otherTasks = std::vector<diagnostic_updater::DiagnosticTask*>());
    virtual void commonMultiCameraCallback(
                const nav_msgs::msg::Odometry::ConstSharedPtr & odomMsg,
                const rtabmap_msgs::msg::UserData::ConstSharedPtr & userDataMsg,
                const std::vector<cv_bridge::CvImageConstPtr> & imageMsgs,
                const std::vector<cv_bridge::CvImageConstPtr> & depthMsgs,
                const std::vector<sensor_msgs::msg::CameraInfo> & cameraInfoMsgs,
                const std::vector<sensor_msgs::msg::CameraInfo> & depthCameraInfoMsgs,
                const sensor_msgs::msg::LaserScan& scanMsg,
                const sensor_msgs::msg::PointCloud2& scan3dMsg,
                const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr& odomInfoMsg,
                const std::vector<rtabmap_msgs::msg::GlobalDescriptor> & globalDescriptorMsgs = std::vector<rtabmap_msgs::msg::GlobalDescriptor>(),
                const std::vector<std::vector<rtabmap_msgs::msg::KeyPoint> > & localKeyPoints = std::vector<std::vector<rtabmap_msgs::msg::KeyPoint> >(),
                const std::vector<std::vector<rtabmap_msgs::msg::Point3f> > & localPoints3d = std::vector<std::vector<rtabmap_msgs::msg::Point3f> >(),
                const std::vector<cv::Mat> & localDescriptors = std::vector<cv::Mat>()) = 0;
    virtual void commonLaserScanCallback(
                const nav_msgs::msg::Odometry::ConstSharedPtr & odomMsg,
                const rtabmap_msgs::msg::UserData::ConstSharedPtr & userDataMsg,
                const sensor_msgs::msg::LaserScan & scanMsg,
                const sensor_msgs::msg::PointCloud2 & scan3dMsg,
                const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr& odomInfoMsg,
                const rtabmap_msgs::msg::GlobalDescriptor & globalDescriptor = rtabmap_msgs::msg::GlobalDescriptor()) = 0;
    virtual void commonOdomCallback(
                const nav_msgs::msg::Odometry::ConstSharedPtr & odomMsg,
                const rtabmap_msgs::msg::UserData::ConstSharedPtr & userDataMsg,
                const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr& odomInfoMsg) = 0;
    virtual void commonSensorDataCallback(
                const rtabmap_msgs::msg::SensorData::ConstSharedPtr & sensorDataMsg,
                const nav_msgs::msg::Odometry::ConstSharedPtr & odomMsg,
                const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr& odomInfoMsg) = 0;

    void tick(const rclcpp::Time & stamp, double targetFrequency = 0);

private:
    void commonSingleCameraCallback(
            const nav_msgs::msg::Odometry::ConstSharedPtr & odomMsg,
            const rtabmap_msgs::msg::UserData::ConstSharedPtr & userDataMsg,
            const cv_bridge::CvImageConstPtr & imageMsg,
            const cv_bridge::CvImageConstPtr & depthMsg,
            const sensor_msgs::msg::CameraInfo & rgbCameraInfoMsg,
            const sensor_msgs::msg::CameraInfo & depthCameraInfoMsg,
            const sensor_msgs::msg::LaserScan & scanMsg,
            const sensor_msgs::msg::PointCloud2 & scan3dMsg,
            const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr& odomInfoMsg,
            const std::vector<rtabmap_msgs::msg::GlobalDescriptor> & globalDescriptorMsgs = std::vector<rtabmap_msgs::msg::GlobalDescriptor>(),
            const std::vector<rtabmap_msgs::msg::KeyPoint> & localKeyPoints = std::vector<rtabmap_msgs::msg::KeyPoint>(),
            const std::vector<rtabmap_msgs::msg::Point3f> & localPoints3d = std::vector<rtabmap_msgs::msg::Point3f>(),
            const cv::Mat & localDescriptors = cv::Mat());
    void processSyncData();
    void setupDepthCallbacks(
            rclcpp::Node & node,
            const rclcpp::SubscriptionOptions & options,
            bool subscribeOdom,
            bool subscribeUserData,
            bool subscribeScan2d,
            bool subscribeScan3d,
            bool subscribeScanDesc,
            bool subscribeOdomInfo);
    void setupStereoCallbacks(
            rclcpp::Node & node,
            const rclcpp::SubscriptionOptions & options,
            bool subscribeOdom,
            bool subscribeOdomInfo);
    void setupRGBCallbacks(
            rclcpp::Node & node,
            const rclcpp::SubscriptionOptions & options,
            bool subscribeOdom,
            bool subscribeUserData,
            bool subscribeScan2d,
            bool subscribeScan3d,
            bool subscribeScanDesc,
            bool subscribeOdomInfo);
    void setupRGBDCallbacks(
            rclcpp::Node & node,
            const rclcpp::SubscriptionOptions & options,
            bool subscribeOdom,
            bool subscribeUserData,
            bool subscribeScan2d,
            bool subscribeScan3d,
            bool subscribeScanDesc,
            bool subscribeOdomInfo);
    void setupRGBDXCallbacks(
            rclcpp::Node & node,
            const rclcpp::SubscriptionOptions & options,
            bool subscribeOdom,
            bool subscribeUserData,
            bool subscribeScan2d,
            bool subscribeScan3d,
            bool subscribeScanDesc,
            bool subscribeOdomInfo);
#ifdef RTABMAP_SYNC_MULTI_RGBD
    void setupRGBD2Callbacks(
            rclcpp::Node & node,
            const rclcpp::SubscriptionOptions & options,
            bool subscribeOdom,
            bool subscribeUserData,
            bool subscribeScan2d,
            bool subscribeScan3d,
            bool subscribeScanDesc,
            bool subscribeOdomInfo);
    void setupRGBD3Callbacks(
            rclcpp::Node & node,
            const rclcpp::SubscriptionOptions & options,
            bool subscribeOdom,
            bool subscribeUserData,
            bool subscribeScan2d,
            bool subscribeScan3d,
            bool subscribeScanDesc,
            bool subscribeOdomInfo);
    void setupRGBD4Callbacks(
            rclcpp::Node & node,
            const rclcpp::SubscriptionOptions & options,
            bool subscribeOdom,
            bool subscribeUserData,
            bool subscribeScan2d,
            bool subscribeScan3d,
            bool subscribeScanDesc,
            bool subscribeOdomInfo);
    void setupRGBD5Callbacks(
            rclcpp::Node & node,
            const rclcpp::SubscriptionOptions & options,
            bool subscribeOdom,
            bool subscribeUserData,
            bool subscribeScan2d,
            bool subscribeScan3d,
            bool subscribeScanDesc,
            bool subscribeOdomInfo);
    void setupRGBD6Callbacks(
            rclcpp::Node & node,
            const rclcpp::SubscriptionOptions & options,
            bool subscribeOdom,
            bool subscribeUserData,
            bool subscribeScan2d,
            bool subscribeScan3d,
            bool subscribeScanDesc,
            bool subscribeOdomInfo);
#endif
    void setupSensorDataCallbacks(
            rclcpp::Node & node,
            const rclcpp::SubscriptionOptions & options,
            bool subscribeOdom,
            bool subscribeOdomInfo);
    void setupScanCallbacks(
            rclcpp::Node & node,
            const rclcpp::SubscriptionOptions & options,
            bool subscribeScan2d,
            bool subscribeScanDesc,
            bool subscribeOdom,
            bool subscribeUserData,
            bool subscribeOdomInfo);
    void setupOdomCallbacks(
            rclcpp::Node & node,
            const rclcpp::SubscriptionOptions & options,
            bool subscribeUserData,
            bool subscribeOdomInfo);

protected:
    std::string subscribedTopicsMsg_;
    int topicQueueSize_;
    int syncQueueSize_;
    rmw_qos_reliability_policy_t qosOdom_;
    rmw_qos_reliability_policy_t qosImage_;
    rmw_qos_reliability_policy_t qosCameraInfo_;
    rmw_qos_reliability_policy_t qosScan_;
    rmw_qos_reliability_policy_t qosUserData_;
    rmw_qos_reliability_policy_t qosSensorData_;

private:
    bool approxSync_;
    bool subscribedToDepth_;
    bool subscribedToStereo_;
    bool subscribedToRGB_;
    bool subscribedToOdom_;
    bool subscribedToRGBD_;
    bool subscribedToSensorData_;
    bool subscribedToScan2d_;
    bool subscribedToScan3d_;
    bool subscribedToScanDescriptor_;
    bool subscribedToOdomInfo_;
    bool subscribedToUserData_;
    std::string odomFrameId_;
    int rgbdCameras_;
    std::string name_;

    rclcpp::CallbackGroup::SharedPtr syncCallbackGroup_;

    //for depth and rgb-only callbacks
    image_transport::SubscriberFilter imageSub_;
    image_transport::SubscriberFilter imageDepthSub_;
    message_filters::Subscriber<sensor_msgs::msg::CameraInfo> cameraInfoSub_;

    //for rgbd callback
    rclcpp::Subscription<rtabmap_msgs::msg::RGBDImage>::ConstSharedPtr rgbdSub_;
    std::vector<message_filters::Subscriber<rtabmap_msgs::msg::RGBDImage>*> rgbdSubs_;
    rclcpp::Subscription<rtabmap_msgs::msg::RGBDImages>::ConstSharedPtr rgbdXSubOnly_;
    message_filters::Subscriber<rtabmap_msgs::msg::RGBDImages> rgbdXSub_;

    //for sensor data callback
    rclcpp::Subscription<rtabmap_msgs::msg::SensorData>::ConstSharedPtr sensorDataSubOnly_;
    message_filters::Subscriber<rtabmap_msgs::msg::SensorData> sensorDataSub_;

    //stereo callback
    image_transport::SubscriberFilter imageRectLeft_;
    image_transport::SubscriberFilter imageRectRight_;
    message_filters::Subscriber<sensor_msgs::msg::CameraInfo> cameraInfoLeft_;
    message_filters::Subscriber<sensor_msgs::msg::CameraInfo> cameraInfoRight_;

    message_filters::Subscriber<nav_msgs::msg::Odometry> odomSub_;
    message_filters::Subscriber<rtabmap_msgs::msg::UserData> userDataSub_;
    message_filters::Subscriber<sensor_msgs::msg::LaserScan> scanSub_;
    message_filters::Subscriber<sensor_msgs::msg::PointCloud2> scan3dSub_;
    message_filters::Subscriber<rtabmap_msgs::msg::ScanDescriptor> scanDescSub_;
    message_filters::Subscriber<rtabmap_msgs::msg::OdomInfo> odomInfoSub_;

    rclcpp::Subscription<sensor_msgs::msg::LaserScan>::ConstSharedPtr scan2dSubOnly_;
    rclcpp::Subscription<sensor_msgs::msg::PointCloud2>::ConstSharedPtr scan3dSubOnly_;
    rclcpp::Subscription<rtabmap_msgs::msg::ScanDescriptor>::ConstSharedPtr scanDescSubOnly_;
    rclcpp::Subscription<nav_msgs::msg::Odometry>::ConstSharedPtr odomSubOnly_;

    std::unique_ptr<SyncDiagnostic> syncDiagnostic_;

    // RGB + Depth
    DATA_SYNCS3(depth, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo)
    DATA_SYNCS4(depthScan2d, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::LaserScan)
    DATA_SYNCS4(depthScan3d, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::PointCloud2)
    DATA_SYNCS4(depthScanDesc, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, rtabmap_msgs::msg::ScanDescriptor)
    DATA_SYNCS4(depthInfo, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, rtabmap_msgs::msg::OdomInfo)
    DATA_SYNCS5(depthScan2dInfo, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::LaserScan, rtabmap_msgs::msg::OdomInfo)
    DATA_SYNCS5(depthScan3dInfo, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::PointCloud2, rtabmap_msgs::msg::OdomInfo)
    DATA_SYNCS5(depthScanDescInfo, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, rtabmap_msgs::msg::ScanDescriptor, rtabmap_msgs::msg::OdomInfo)

    // RGB + Depth + Odom
    DATA_SYNCS4(depthOdom, nav_msgs::msg::Odometry, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo)
    DATA_SYNCS5(depthOdomScan2d, nav_msgs::msg::Odometry, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::LaserScan)
    DATA_SYNCS5(depthOdomScan3d, nav_msgs::msg::Odometry, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::PointCloud2)
    DATA_SYNCS5(depthOdomScanDesc, nav_msgs::msg::Odometry, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, rtabmap_msgs::msg::ScanDescriptor)
    DATA_SYNCS5(depthOdomInfo, nav_msgs::msg::Odometry, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, rtabmap_msgs::msg::OdomInfo)
    DATA_SYNCS6(depthOdomScan2dInfo, nav_msgs::msg::Odometry, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::LaserScan, rtabmap_msgs::msg::OdomInfo)
    DATA_SYNCS6(depthOdomScan3dInfo, nav_msgs::msg::Odometry, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::PointCloud2, rtabmap_msgs::msg::OdomInfo)
    DATA_SYNCS6(depthOdomScanDescInfo, nav_msgs::msg::Odometry, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, rtabmap_msgs::msg::ScanDescriptor, rtabmap_msgs::msg::OdomInfo)

#ifdef RTABMAP_SYNC_USER_DATA
    // RGB + Depth + User Data
    DATA_SYNCS4(depthData, rtabmap_msgs::msg::UserData, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo)
    DATA_SYNCS5(depthDataScan2d, rtabmap_msgs::msg::UserData, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::LaserScan)
    DATA_SYNCS5(depthDataScan3d, rtabmap_msgs::msg::UserData, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::PointCloud2)
    DATA_SYNCS5(depthDataScanDesc, rtabmap_msgs::msg::UserData, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, rtabmap_msgs::msg::ScanDescriptor)
    DATA_SYNCS5(depthDataInfo, rtabmap_msgs::msg::UserData, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, rtabmap_msgs::msg::OdomInfo)
    DATA_SYNCS6(depthDataScan2dInfo, rtabmap_msgs::msg::UserData, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::LaserScan, rtabmap_msgs::msg::OdomInfo)
    DATA_SYNCS6(depthDataScan3dInfo, rtabmap_msgs::msg::UserData, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::PointCloud2, rtabmap_msgs::msg::OdomInfo)
    DATA_SYNCS6(depthDataScanDescInfo, rtabmap_msgs::msg::UserData, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, rtabmap_msgs::msg::ScanDescriptor, rtabmap_msgs::msg::OdomInfo)

    // RGB + Depth + Odom + User Data
    DATA_SYNCS5(depthOdomData, nav_msgs::msg::Odometry, rtabmap_msgs::msg::UserData, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo)
    DATA_SYNCS6(depthOdomDataScan2d, nav_msgs::msg::Odometry, rtabmap_msgs::msg::UserData, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::LaserScan)
    DATA_SYNCS6(depthOdomDataScan3d, nav_msgs::msg::Odometry, rtabmap_msgs::msg::UserData, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::PointCloud2)
    DATA_SYNCS6(depthOdomDataScanDesc, nav_msgs::msg::Odometry, rtabmap_msgs::msg::UserData, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, rtabmap_msgs::msg::ScanDescriptor)
    DATA_SYNCS6(depthOdomDataInfo, nav_msgs::msg::Odometry, rtabmap_msgs::msg::UserData, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, rtabmap_msgs::msg::OdomInfo)
    DATA_SYNCS7(depthOdomDataScan2dInfo, nav_msgs::msg::Odometry, rtabmap_msgs::msg::UserData, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::LaserScan, rtabmap_msgs::msg::OdomInfo)
    DATA_SYNCS7(depthOdomDataScan3dInfo, nav_msgs::msg::Odometry, rtabmap_msgs::msg::UserData, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::PointCloud2, rtabmap_msgs::msg::OdomInfo)
    DATA_SYNCS7(depthOdomDataScanDescInfo, nav_msgs::msg::Odometry, rtabmap_msgs::msg::UserData, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, rtabmap_msgs::msg::ScanDescriptor, rtabmap_msgs::msg::OdomInfo)
#endif

    // Stereo
    DATA_SYNCS4(stereo, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::CameraInfo)
    DATA_SYNCS5(stereoInfo, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::CameraInfo, rtabmap_msgs::msg::OdomInfo)

    // Stereo + Odom
    DATA_SYNCS5(stereoOdom, nav_msgs::msg::Odometry, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::CameraInfo)
    DATA_SYNCS6(stereoOdomInfo, nav_msgs::msg::Odometry, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::CameraInfo, rtabmap_msgs::msg::OdomInfo)

    // RGB-only
    DATA_SYNCS2(rgb, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo)
    DATA_SYNCS3(rgbScan2d, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::LaserScan)
    DATA_SYNCS3(rgbScan3d, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::PointCloud2)
    DATA_SYNCS3(rgbScanDesc, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, rtabmap_msgs::msg::ScanDescriptor)
    DATA_SYNCS3(rgbInfo, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, rtabmap_msgs::msg::OdomInfo)
    DATA_SYNCS4(rgbScan2dInfo, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::LaserScan, rtabmap_msgs::msg::OdomInfo)
    DATA_SYNCS4(rgbScan3dInfo, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::PointCloud2, rtabmap_msgs::msg::OdomInfo)
    DATA_SYNCS4(rgbScanDescInfo, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, rtabmap_msgs::msg::ScanDescriptor, rtabmap_msgs::msg::OdomInfo)

    // RGB-only + Odom
    DATA_SYNCS3(rgbOdom, nav_msgs::msg::Odometry, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo)
    DATA_SYNCS4(rgbOdomScan2d, nav_msgs::msg::Odometry, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::LaserScan)
    DATA_SYNCS4(rgbOdomScan3d, nav_msgs::msg::Odometry, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::PointCloud2)
    DATA_SYNCS4(rgbOdomScanDesc, nav_msgs::msg::Odometry, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, rtabmap_msgs::msg::ScanDescriptor)
    DATA_SYNCS4(rgbOdomInfo, nav_msgs::msg::Odometry, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, rtabmap_msgs::msg::OdomInfo)
    DATA_SYNCS5(rgbOdomScan2dInfo, nav_msgs::msg::Odometry, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::LaserScan, rtabmap_msgs::msg::OdomInfo)
    DATA_SYNCS5(rgbOdomScan3dInfo, nav_msgs::msg::Odometry, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::PointCloud2, rtabmap_msgs::msg::OdomInfo)
    DATA_SYNCS5(rgbOdomScanDescInfo, nav_msgs::msg::Odometry, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, rtabmap_msgs::msg::ScanDescriptor, rtabmap_msgs::msg::OdomInfo)

#ifdef RTABMAP_SYNC_USER_DATA
    // RGB-only + User Data
    DATA_SYNCS3(rgbData, rtabmap_msgs::msg::UserData, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo)
    DATA_SYNCS4(rgbDataScan2d, rtabmap_msgs::msg::UserData, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::LaserScan)
    DATA_SYNCS4(rgbDataScan3d, rtabmap_msgs::msg::UserData, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::PointCloud2)
    DATA_SYNCS4(rgbDataScanDesc, rtabmap_msgs::msg::UserData, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, rtabmap_msgs::msg::ScanDescriptor)
    DATA_SYNCS4(rgbDataInfo, rtabmap_msgs::msg::UserData, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, rtabmap_msgs::msg::OdomInfo)
    DATA_SYNCS5(rgbDataScan2dInfo, rtabmap_msgs::msg::UserData, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::LaserScan, rtabmap_msgs::msg::OdomInfo)
    DATA_SYNCS5(rgbDataScan3dInfo, rtabmap_msgs::msg::UserData, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::PointCloud2, rtabmap_msgs::msg::OdomInfo)
    DATA_SYNCS5(rgbDataScanDescInfo, rtabmap_msgs::msg::UserData, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, rtabmap_msgs::msg::ScanDescriptor, rtabmap_msgs::msg::OdomInfo)

    // RGB-only + Odom + User Data
    DATA_SYNCS4(rgbOdomData, nav_msgs::msg::Odometry, rtabmap_msgs::msg::UserData, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo)
    DATA_SYNCS5(rgbOdomDataScan2d, nav_msgs::msg::Odometry, rtabmap_msgs::msg::UserData, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::LaserScan)
    DATA_SYNCS5(rgbOdomDataScan3d, nav_msgs::msg::Odometry, rtabmap_msgs::msg::UserData, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::PointCloud2)
    DATA_SYNCS5(rgbOdomDataScanDesc, nav_msgs::msg::Odometry, rtabmap_msgs::msg::UserData, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, rtabmap_msgs::msg::ScanDescriptor)
    DATA_SYNCS5(rgbOdomDataInfo, nav_msgs::msg::Odometry, rtabmap_msgs::msg::UserData, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, rtabmap_msgs::msg::OdomInfo)
    DATA_SYNCS6(rgbOdomDataScan2dInfo, nav_msgs::msg::Odometry, rtabmap_msgs::msg::UserData, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::LaserScan, rtabmap_msgs::msg::OdomInfo)
    DATA_SYNCS6(rgbOdomDataScan3dInfo, nav_msgs::msg::Odometry, rtabmap_msgs::msg::UserData, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::PointCloud2, rtabmap_msgs::msg::OdomInfo)
    DATA_SYNCS6(rgbOdomDataScanDescInfo, nav_msgs::msg::Odometry, rtabmap_msgs::msg::UserData, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, rtabmap_msgs::msg::ScanDescriptor, rtabmap_msgs::msg::OdomInfo)
#endif

    // 1 RGBD
    void rgbdCallback(const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr);
    DATA_SYNCS2(rgbdScan2d, rtabmap_msgs::msg::RGBDImage, sensor_msgs::msg::LaserScan)
    DATA_SYNCS2(rgbdScan3d, rtabmap_msgs::msg::RGBDImage, sensor_msgs::msg::PointCloud2)
    DATA_SYNCS2(rgbdScanDesc, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::ScanDescriptor)
    DATA_SYNCS2(rgbdInfo, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::OdomInfo)

    // 1 RGBD + Odom
    DATA_SYNCS2(rgbdOdom, nav_msgs::msg::Odometry, rtabmap_msgs::msg::RGBDImage)
    DATA_SYNCS3(rgbdOdomScan2d, nav_msgs::msg::Odometry, rtabmap_msgs::msg::RGBDImage, sensor_msgs::msg::LaserScan)
    DATA_SYNCS3(rgbdOdomScan3d, nav_msgs::msg::Odometry, rtabmap_msgs::msg::RGBDImage, sensor_msgs::msg::PointCloud2)
    DATA_SYNCS3(rgbdOdomScanDesc, nav_msgs::msg::Odometry, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::ScanDescriptor)
    DATA_SYNCS3(rgbdOdomInfo, nav_msgs::msg::Odometry, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::OdomInfo)

#ifdef RTABMAP_SYNC_USER_DATA
    // 1 RGBD + User Data
    DATA_SYNCS2(rgbdData, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImage)
    DATA_SYNCS3(rgbdDataScan2d, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImage, sensor_msgs::msg::LaserScan)
    DATA_SYNCS3(rgbdDataScan3d, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImage, sensor_msgs::msg::PointCloud2)
    DATA_SYNCS3(rgbdDataScanDesc, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::ScanDescriptor)
    DATA_SYNCS3(rgbdDataInfo, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::OdomInfo)

    // 1 RGBD + Odom + User Data
    DATA_SYNCS3(rgbdOdomData, nav_msgs::msg::Odometry, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImage)
    DATA_SYNCS4(rgbdOdomDataScan2d, nav_msgs::msg::Odometry, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImage, sensor_msgs::msg::LaserScan)
    DATA_SYNCS4(rgbdOdomDataScan3d, nav_msgs::msg::Odometry, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImage, sensor_msgs::msg::PointCloud2)
    DATA_SYNCS4(rgbdOdomDataScanDesc, nav_msgs::msg::Odometry, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::ScanDescriptor)
    DATA_SYNCS4(rgbdOdomDataInfo, nav_msgs::msg::Odometry, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::OdomInfo)
#endif

    // X RGBD
    void rgbdXCallback(const rtabmap_msgs::msg::RGBDImages::ConstSharedPtr);
    DATA_SYNCS2(rgbdXScan2d, rtabmap_msgs::msg::RGBDImages, sensor_msgs::msg::LaserScan)
    DATA_SYNCS2(rgbdXScan3d, rtabmap_msgs::msg::RGBDImages, sensor_msgs::msg::PointCloud2)
    DATA_SYNCS2(rgbdXScanDesc, rtabmap_msgs::msg::RGBDImages, rtabmap_msgs::msg::ScanDescriptor)
    DATA_SYNCS2(rgbdXInfo, rtabmap_msgs::msg::RGBDImages, rtabmap_msgs::msg::OdomInfo)

    // X RGBD + Odom
    DATA_SYNCS2(rgbdXOdom, nav_msgs::msg::Odometry, rtabmap_msgs::msg::RGBDImages)
    DATA_SYNCS3(rgbdXOdomScan2d, nav_msgs::msg::Odometry, rtabmap_msgs::msg::RGBDImages, sensor_msgs::msg::LaserScan)
    DATA_SYNCS3(rgbdXOdomScan3d, nav_msgs::msg::Odometry, rtabmap_msgs::msg::RGBDImages, sensor_msgs::msg::PointCloud2)
    DATA_SYNCS3(rgbdXOdomScanDesc, nav_msgs::msg::Odometry, rtabmap_msgs::msg::RGBDImages, rtabmap_msgs::msg::ScanDescriptor)
    DATA_SYNCS3(rgbdXOdomInfo, nav_msgs::msg::Odometry, rtabmap_msgs::msg::RGBDImages, rtabmap_msgs::msg::OdomInfo)

#ifdef RTABMAP_SYNC_USER_DATA
    // X RGBD + User Data
    DATA_SYNCS2(rgbdXData, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImages)
    DATA_SYNCS3(rgbdXDataScan2d, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImages, sensor_msgs::msg::LaserScan)
    DATA_SYNCS3(rgbdXDataScan3d, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImages, sensor_msgs::msg::PointCloud2)
    DATA_SYNCS3(rgbdXDataScanDesc, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImages, rtabmap_msgs::msg::ScanDescriptor)
    DATA_SYNCS3(rgbdXDataInfo, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImages, rtabmap_msgs::msg::OdomInfo)

    // X RGBD + Odom + User Data
    DATA_SYNCS3(rgbdXOdomData, nav_msgs::msg::Odometry, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImages)
    DATA_SYNCS4(rgbdXOdomDataScan2d, nav_msgs::msg::Odometry, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImages, sensor_msgs::msg::LaserScan)
    DATA_SYNCS4(rgbdXOdomDataScan3d, nav_msgs::msg::Odometry, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImages, sensor_msgs::msg::PointCloud2)
    DATA_SYNCS4(rgbdXOdomDataScanDesc, nav_msgs::msg::Odometry, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImages, rtabmap_msgs::msg::ScanDescriptor)
    DATA_SYNCS4(rgbdXOdomDataInfo, nav_msgs::msg::Odometry, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImages, rtabmap_msgs::msg::OdomInfo)
#endif

    // SensorData
    void sensorDataCallback(const rtabmap_msgs::msg::SensorData::ConstSharedPtr);
    DATA_SYNCS2(sensorDataInfo, rtabmap_msgs::msg::SensorData, rtabmap_msgs::msg::OdomInfo);

    // SensorData + Odom
    DATA_SYNCS2(sensorDataOdom, nav_msgs::msg::Odometry, rtabmap_msgs::msg::SensorData);
    DATA_SYNCS3(sensorDataOdomInfo, nav_msgs::msg::Odometry, rtabmap_msgs::msg::SensorData, rtabmap_msgs::msg::OdomInfo);

#ifdef RTABMAP_SYNC_MULTI_RGBD
    // 2 RGBD
    DATA_SYNCS2(rgbd2, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage)
    DATA_SYNCS3(rgbd2Scan2d, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, sensor_msgs::msg::LaserScan)
    DATA_SYNCS3(rgbd2Scan3d, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, sensor_msgs::msg::PointCloud2)
    DATA_SYNCS3(rgbd2ScanDesc, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::ScanDescriptor)
    DATA_SYNCS3(rgbd2Info, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::OdomInfo)
    // 2 RGBD + Odom
    DATA_SYNCS3(rgbd2Odom, nav_msgs::msg::Odometry, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage)
    DATA_SYNCS4(rgbd2OdomScan2d, nav_msgs::msg::Odometry, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, sensor_msgs::msg::LaserScan)
    DATA_SYNCS4(rgbd2OdomScan3d, nav_msgs::msg::Odometry, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, sensor_msgs::msg::PointCloud2)
    DATA_SYNCS4(rgbd2OdomScanDesc, nav_msgs::msg::Odometry, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::ScanDescriptor)
    DATA_SYNCS4(rgbd2OdomInfo, nav_msgs::msg::Odometry, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::OdomInfo)

#ifdef RTABMAP_SYNC_USER_DATA
    // 2 RGBD + User Data
    DATA_SYNCS3(rgbd2Data, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage)
    DATA_SYNCS4(rgbd2DataScan2d, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, sensor_msgs::msg::LaserScan)
    DATA_SYNCS4(rgbd2DataScan3d, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, sensor_msgs::msg::PointCloud2)
    DATA_SYNCS4(rgbd2DataScanDesc, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::ScanDescriptor)
    DATA_SYNCS4(rgbd2DataInfo, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::OdomInfo)

    // 2 RGBD + Odom + User Data
    DATA_SYNCS4(rgbd2OdomData, nav_msgs::msg::Odometry, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage)
    DATA_SYNCS5(rgbd2OdomDataScan2d, nav_msgs::msg::Odometry, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, sensor_msgs::msg::LaserScan)
    DATA_SYNCS5(rgbd2OdomDataScan3d, nav_msgs::msg::Odometry, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, sensor_msgs::msg::PointCloud2)
    DATA_SYNCS5(rgbd2OdomDataScanDesc, nav_msgs::msg::Odometry, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::ScanDescriptor)
    DATA_SYNCS5(rgbd2OdomDataInfo, nav_msgs::msg::Odometry, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::OdomInfo)
#endif

    // 3 RGBD
    DATA_SYNCS3(rgbd3, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage)
    DATA_SYNCS4(rgbd3Scan2d, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, sensor_msgs::msg::LaserScan)
    DATA_SYNCS4(rgbd3Scan3d, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, sensor_msgs::msg::PointCloud2)
    DATA_SYNCS4(rgbd3ScanDesc, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::ScanDescriptor)
    DATA_SYNCS4(rgbd3Info, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::OdomInfo)

    // 3 RGBD + Odom
    DATA_SYNCS4(rgbd3Odom, nav_msgs::msg::Odometry, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage)
    DATA_SYNCS5(rgbd3OdomScan2d, nav_msgs::msg::Odometry, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, sensor_msgs::msg::LaserScan)
    DATA_SYNCS5(rgbd3OdomScan3d, nav_msgs::msg::Odometry, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, sensor_msgs::msg::PointCloud2)
    DATA_SYNCS5(rgbd3OdomScanDesc, nav_msgs::msg::Odometry, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::ScanDescriptor)
    DATA_SYNCS5(rgbd3OdomInfo, nav_msgs::msg::Odometry, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::OdomInfo)

#ifdef RTABMAP_SYNC_USER_DATA
    // 3 RGBD + User Data
    DATA_SYNCS4(rgbd3Data, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage)
    DATA_SYNCS5(rgbd3DataScan2d, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, sensor_msgs::msg::LaserScan)
    DATA_SYNCS5(rgbd3DataScan3d, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, sensor_msgs::msg::PointCloud2)
    DATA_SYNCS5(rgbd3DataScanDesc, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::ScanDescriptor)
    DATA_SYNCS5(rgbd3DataInfo, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::OdomInfo)

    // 3 RGBD + Odom + User Data
    DATA_SYNCS5(rgbd3OdomData, nav_msgs::msg::Odometry, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage)
    DATA_SYNCS6(rgbd3OdomDataScan2d, nav_msgs::msg::Odometry, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, sensor_msgs::msg::LaserScan)
    DATA_SYNCS6(rgbd3OdomDataScan3d, nav_msgs::msg::Odometry, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, sensor_msgs::msg::PointCloud2)
    DATA_SYNCS6(rgbd3OdomDataScanDesc, nav_msgs::msg::Odometry, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::ScanDescriptor)
    DATA_SYNCS6(rgbd3OdomDataInfo, nav_msgs::msg::Odometry, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::OdomInfo)
#endif

    // 4 RGBD
    DATA_SYNCS4(rgbd4, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage)
    DATA_SYNCS5(rgbd4Scan2d, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, sensor_msgs::msg::LaserScan)
    DATA_SYNCS5(rgbd4Scan3d, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, sensor_msgs::msg::PointCloud2)
    DATA_SYNCS5(rgbd4ScanDesc, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::ScanDescriptor)
    DATA_SYNCS5(rgbd4Info, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::OdomInfo)

    // 4 RGBD + Odom
    DATA_SYNCS5(rgbd4Odom, nav_msgs::msg::Odometry, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage)
    DATA_SYNCS6(rgbd4OdomScan2d, nav_msgs::msg::Odometry, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, sensor_msgs::msg::LaserScan)
    DATA_SYNCS6(rgbd4OdomScan3d, nav_msgs::msg::Odometry, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, sensor_msgs::msg::PointCloud2)
    DATA_SYNCS6(rgbd4OdomScanDesc, nav_msgs::msg::Odometry, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::ScanDescriptor)
    DATA_SYNCS6(rgbd4OdomInfo, nav_msgs::msg::Odometry, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::OdomInfo)

#ifdef RTABMAP_SYNC_USER_DATA
    // 4 RGBD + User Data
    DATA_SYNCS5(rgbd4Data, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage)
    DATA_SYNCS6(rgbd4DataScan2d, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, sensor_msgs::msg::LaserScan)
    DATA_SYNCS6(rgbd4DataScan3d, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, sensor_msgs::msg::PointCloud2)
    DATA_SYNCS6(rgbd4DataScanDesc, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::ScanDescriptor)
    DATA_SYNCS6(rgbd4DataInfo, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::OdomInfo)
    // 4 RGBD + Odom + User Data
    DATA_SYNCS6(rgbd4OdomData, nav_msgs::msg::Odometry, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage)
    DATA_SYNCS7(rgbd4OdomDataScan2d, nav_msgs::msg::Odometry, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, sensor_msgs::msg::LaserScan)
    DATA_SYNCS7(rgbd4OdomDataScan3d, nav_msgs::msg::Odometry, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, sensor_msgs::msg::PointCloud2)
    DATA_SYNCS7(rgbd4OdomDataScanDesc, nav_msgs::msg::Odometry, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::ScanDescriptor)
    DATA_SYNCS7(rgbd4OdomDataInfo, nav_msgs::msg::Odometry, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::OdomInfo)
#endif

    // 5 RGBD
    DATA_SYNCS5(rgbd5, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage)
    DATA_SYNCS6(rgbd5Scan2d, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, sensor_msgs::msg::LaserScan)
    DATA_SYNCS6(rgbd5Scan3d, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, sensor_msgs::msg::PointCloud2)
    DATA_SYNCS6(rgbd5ScanDesc, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::ScanDescriptor)
    DATA_SYNCS6(rgbd5Info, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::OdomInfo)

    // 5 RGBD + Odom
    DATA_SYNCS6(rgbd5Odom, nav_msgs::msg::Odometry, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage)
    DATA_SYNCS7(rgbd5OdomScan2d, nav_msgs::msg::Odometry, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, sensor_msgs::msg::LaserScan)
    DATA_SYNCS7(rgbd5OdomScan3d, nav_msgs::msg::Odometry, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, sensor_msgs::msg::PointCloud2)
    DATA_SYNCS7(rgbd5OdomScanDesc, nav_msgs::msg::Odometry, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::ScanDescriptor)
    DATA_SYNCS7(rgbd5OdomInfo, nav_msgs::msg::Odometry, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::OdomInfo)

    // 6 RGBD
    DATA_SYNCS6(rgbd6, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage)
    DATA_SYNCS7(rgbd6Scan2d, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, sensor_msgs::msg::LaserScan)
    DATA_SYNCS7(rgbd6Scan3d, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, sensor_msgs::msg::PointCloud2)
    DATA_SYNCS7(rgbd6ScanDesc, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::ScanDescriptor)
    DATA_SYNCS7(rgbd6Info, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::OdomInfo)

    // 6 RGBD + Odom
    DATA_SYNCS7(rgbd6Odom, nav_msgs::msg::Odometry, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage)
    DATA_SYNCS8(rgbd6OdomScan2d, nav_msgs::msg::Odometry, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, sensor_msgs::msg::LaserScan)
    DATA_SYNCS8(rgbd6OdomScan3d, nav_msgs::msg::Odometry, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, sensor_msgs::msg::PointCloud2)
    DATA_SYNCS8(rgbd6OdomScanDesc, nav_msgs::msg::Odometry, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::ScanDescriptor)
    DATA_SYNCS8(rgbd6OdomInfo, nav_msgs::msg::Odometry, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::OdomInfo)

#endif //RTABMAP_SYNC_MULTI_RGBD

    // Scan
    void scan2dCallback(const sensor_msgs::msg::LaserScan::ConstSharedPtr);
    void scan3dCallback(const sensor_msgs::msg::PointCloud2::ConstSharedPtr);
    void scanDescCallback(const rtabmap_msgs::msg::ScanDescriptor::ConstSharedPtr);
    DATA_SYNCS2(scan2dInfo, sensor_msgs::msg::LaserScan, rtabmap_msgs::msg::OdomInfo)
    DATA_SYNCS2(scan3dInfo, sensor_msgs::msg::PointCloud2, rtabmap_msgs::msg::OdomInfo)
    DATA_SYNCS2(scanDescInfo, rtabmap_msgs::msg::ScanDescriptor, rtabmap_msgs::msg::OdomInfo)

    // Scan + Odom
    DATA_SYNCS2(odomScan2d, nav_msgs::msg::Odometry, sensor_msgs::msg::LaserScan)
    DATA_SYNCS2(odomScan3d, nav_msgs::msg::Odometry, sensor_msgs::msg::PointCloud2)
    DATA_SYNCS2(odomScanDesc, nav_msgs::msg::Odometry, rtabmap_msgs::msg::ScanDescriptor)
    DATA_SYNCS3(odomScan2dInfo, nav_msgs::msg::Odometry, sensor_msgs::msg::LaserScan, rtabmap_msgs::msg::OdomInfo)
    DATA_SYNCS3(odomScan3dInfo, nav_msgs::msg::Odometry, sensor_msgs::msg::PointCloud2, rtabmap_msgs::msg::OdomInfo)
    DATA_SYNCS3(odomScanDescInfo, nav_msgs::msg::Odometry, rtabmap_msgs::msg::ScanDescriptor, rtabmap_msgs::msg::OdomInfo)

#ifdef RTABMAP_SYNC_USER_DATA
    // Scan + User Data
    DATA_SYNCS2(dataScan2d, rtabmap_msgs::msg::UserData, sensor_msgs::msg::LaserScan)
    DATA_SYNCS2(dataScan3d, rtabmap_msgs::msg::UserData, sensor_msgs::msg::PointCloud2)
    DATA_SYNCS2(dataScanDesc, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::ScanDescriptor)
    DATA_SYNCS3(dataScan2dInfo, rtabmap_msgs::msg::UserData, sensor_msgs::msg::LaserScan, rtabmap_msgs::msg::OdomInfo)
    DATA_SYNCS3(dataScan3dInfo, rtabmap_msgs::msg::UserData, sensor_msgs::msg::PointCloud2, rtabmap_msgs::msg::OdomInfo)
    DATA_SYNCS3(dataScanDescInfo, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::ScanDescriptor, rtabmap_msgs::msg::OdomInfo)

    // Scan + Odom + User Data
    DATA_SYNCS3(odomDataScan2d, nav_msgs::msg::Odometry, rtabmap_msgs::msg::UserData, sensor_msgs::msg::LaserScan)
    DATA_SYNCS3(odomDataScan3d, nav_msgs::msg::Odometry, rtabmap_msgs::msg::UserData, sensor_msgs::msg::PointCloud2)
    DATA_SYNCS3(odomDataScanDesc, nav_msgs::msg::Odometry, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::ScanDescriptor)
    DATA_SYNCS4(odomDataScan2dInfo, nav_msgs::msg::Odometry, rtabmap_msgs::msg::UserData, sensor_msgs::msg::LaserScan, rtabmap_msgs::msg::OdomInfo)
    DATA_SYNCS4(odomDataScan3dInfo, nav_msgs::msg::Odometry, rtabmap_msgs::msg::UserData, sensor_msgs::msg::PointCloud2, rtabmap_msgs::msg::OdomInfo)
    DATA_SYNCS4(odomDataScanDescInfo, nav_msgs::msg::Odometry, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::ScanDescriptor, rtabmap_msgs::msg::OdomInfo)
#endif

    // Odom
    void odomCallback(const nav_msgs::msg::Odometry::ConstSharedPtr);
    DATA_SYNCS2(odomInfo, nav_msgs::msg::Odometry, rtabmap_msgs::msg::OdomInfo)

#ifdef RTABMAP_SYNC_USER_DATA
    // Odom + User Data
    DATA_SYNCS2(odomData, nav_msgs::msg::Odometry, rtabmap_msgs::msg::UserData)
    DATA_SYNCS3(odomDataInfo, nav_msgs::msg::Odometry, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::OdomInfo)
#endif
};

} /* namespace rtabmap_ros */

#endif /* INCLUDE_RTABMAP_ROS_COMMONDATASUBSCRIBER_H_ */