CommonDataSubscriber.h

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/*
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.

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modification, are permitted provided that the following conditions are met:
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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 <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.h>
#include <image_transport/subscriber_filter.h>

#include <cv_bridge/cv_bridge.h>

#include <sensor_msgs/PointCloud2.h>
#include <sensor_msgs/Image.h>
#include <sensor_msgs/CameraInfo.h>
#include <sensor_msgs/LaserScan.h>

#include <nav_msgs/Odometry.h>

#include <rtabmap_ros/RGBDImage.h>
#include <rtabmap_ros/UserData.h>
#include <rtabmap_ros/OdomInfo.h>
#include <rtabmap_ros/ScanDescriptor.h>
#include <rtabmap_ros/CommonDataSubscriberDefines.h>

#include <boost/thread.hpp>

namespace rtabmap_ros {

class CommonDataSubscriber {
public:
        CommonDataSubscriber(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 isSubscribedToOdomInfo() const {return subscribedToOdomInfo_;}
        bool isDataSubscribed() const {return isSubscribedToDepth() || isSubscribedToStereo() || isSubscribedToRGBD() || isSubscribedToScan2d() || isSubscribedToScan3d() || isSubscribedToRGB() || isSubscribedToOdom();}
        int rgbdCameras() const {return isSubscribedToRGBD()?(int)rgbdSubs_.size():0;}
        int getQueueSize() const {return queueSize_;}
        bool isApproxSync() const {return approxSync_;}
        const std::string & name() const {return name_;}

protected:
        void setupCallbacks(
                        ros::NodeHandle & nh,
                        ros::NodeHandle & pnh,
                        const std::string & name);
        virtual void commonDepthCallback(
                                const nav_msgs::OdometryConstPtr & odomMsg,
                                const rtabmap_ros::UserDataConstPtr & userDataMsg,
                                const std::vector<cv_bridge::CvImageConstPtr> & imageMsgs,
                                const std::vector<cv_bridge::CvImageConstPtr> & depthMsgs,
                                const std::vector<sensor_msgs::CameraInfo> & cameraInfoMsgs,
                                const sensor_msgs::LaserScan& scanMsg,
                                const sensor_msgs::PointCloud2& scan3dMsg,
                                const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg,
                                const std::vector<rtabmap_ros::GlobalDescriptor> & globalDescriptorMsgs = std::vector<rtabmap_ros::GlobalDescriptor>(),
                                const std::vector<std::vector<rtabmap_ros::KeyPoint> > & localKeyPoints = std::vector<std::vector<rtabmap_ros::KeyPoint> >(),
                                const std::vector<std::vector<rtabmap_ros::Point3f> > & localPoints3d = std::vector<std::vector<rtabmap_ros::Point3f> >(),
                                const std::vector<cv::Mat> & localDescriptors = std::vector<cv::Mat>()) = 0;
        virtual void commonStereoCallback(
                                const nav_msgs::OdometryConstPtr & odomMsg,
                                const rtabmap_ros::UserDataConstPtr & userDataMsg,
                                const cv_bridge::CvImageConstPtr& leftImageMsg,
                                const cv_bridge::CvImageConstPtr& rightImageMsg,
                                const sensor_msgs::CameraInfo& leftCamInfoMsg,
                                const sensor_msgs::CameraInfo& rightCamInfoMsg,
                                const sensor_msgs::LaserScan& scanMsg,
                                const sensor_msgs::PointCloud2& scan3dMsg,
                                const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg,
                                const std::vector<rtabmap_ros::GlobalDescriptor> & globalDescriptorMsgs = std::vector<rtabmap_ros::GlobalDescriptor>(),
                                const std::vector<rtabmap_ros::KeyPoint> & localKeyPoints = std::vector<rtabmap_ros::KeyPoint>(),
                                const std::vector<rtabmap_ros::Point3f> & localPoints3d = std::vector<rtabmap_ros::Point3f>(),
                                const cv::Mat & localDescriptors = cv::Mat()) = 0;
        virtual void commonLaserScanCallback(
                                const nav_msgs::OdometryConstPtr & odomMsg,
                                const rtabmap_ros::UserDataConstPtr & userDataMsg,
                                const sensor_msgs::LaserScan& scanMsg,
                                const sensor_msgs::PointCloud2& scan3dMsg,
                                const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg,
                                const rtabmap_ros::GlobalDescriptor & globalDescriptor = rtabmap_ros::GlobalDescriptor()) = 0;
        virtual void commonOdomCallback(
                                const nav_msgs::OdometryConstPtr & odomMsg,
                                const rtabmap_ros::UserDataConstPtr & userDataMsg,
                                const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg) = 0;

        void commonSingleDepthCallback(
                                const nav_msgs::OdometryConstPtr & odomMsg,
                                const rtabmap_ros::UserDataConstPtr & userDataMsg,
                                const cv_bridge::CvImageConstPtr & imageMsg,
                                const cv_bridge::CvImageConstPtr & depthMsg,
                                const sensor_msgs::CameraInfo & rgbCameraInfoMsg,
                                const sensor_msgs::CameraInfo & depthCameraInfoMsg,
                                const sensor_msgs::LaserScan& scanMsg,
                                const sensor_msgs::PointCloud2& scan3dMsg,
                                const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg,
                                const std::vector<rtabmap_ros::GlobalDescriptor> & globalDescriptorMsgs = std::vector<rtabmap_ros::GlobalDescriptor>(),
                                const std::vector<rtabmap_ros::KeyPoint> & localKeyPoints = std::vector<rtabmap_ros::KeyPoint>(),
                                const std::vector<rtabmap_ros::Point3f> & localPoints3d = std::vector<rtabmap_ros::Point3f>(),
                                const cv::Mat & localDescriptors = cv::Mat());

private:
        void warningLoop();
        void callbackCalled() {callbackCalled_ = true;}
        void setupDepthCallbacks(
                        ros::NodeHandle & nh,
                        ros::NodeHandle & pnh,
                        bool subscribeOdom,
                        bool subscribeUserData,
                        bool subscribeScan2d,
                        bool subscribeScan3d,
                        bool subscribeScanDesc,
                        bool subscribeOdomInfo,
                        int queueSize,
                        bool approxSync);
        void setupStereoCallbacks(
                        ros::NodeHandle & nh,
                        ros::NodeHandle & pnh,
                        bool subscribeOdom,
                        bool subscribeOdomInfo,
                        int queueSize,
                        bool approxSync);
        void setupRGBCallbacks(
                        ros::NodeHandle & nh,
                        ros::NodeHandle & pnh,
                        bool subscribeOdom,
                        bool subscribeUserData,
                        bool subscribeScan2d,
                        bool subscribeScan3d,
                        bool subscribeScanDesc,
                        bool subscribeOdomInfo,
                        int queueSize,
                        bool approxSync);
        void setupRGBDCallbacks(
                        ros::NodeHandle & nh,
                        ros::NodeHandle & pnh,
                        bool subscribeOdom,
                        bool subscribeUserData,
                        bool subscribeScan2d,
                        bool subscribeScan3d,
                        bool subscribeScanDesc,
                        bool subscribeOdomInfo,
                        int queueSize,
                        bool approxSync);
#ifdef RTABMAP_SYNC_MULTI_RGBD
        void setupRGBD2Callbacks(
                        ros::NodeHandle & nh,
                        ros::NodeHandle & pnh,
                        bool subscribeOdom,
                        bool subscribeUserData,
                        bool subscribeScan2d,
                        bool subscribeScan3d,
                        bool subscribeScanDesc,
                        bool subscribeOdomInfo,
                        int queueSize,
                        bool approxSync);
        void setupRGBD3Callbacks(
                        ros::NodeHandle & nh,
                        ros::NodeHandle & pnh,
                        bool subscribeOdom,
                        bool subscribeUserData,
                        bool subscribeScan2d,
                        bool subscribeScan3d,
                        bool subscribeScanDesc,
                        bool subscribeOdomInfo,
                        int queueSize,
                        bool approxSync);
        void setupRGBD4Callbacks(
                        ros::NodeHandle & nh,
                        ros::NodeHandle & pnh,
                        bool subscribeOdom,
                        bool subscribeUserData,
                        bool subscribeScan2d,
                        bool subscribeScan3d,
                        bool subscribeScanDesc,
                        bool subscribeOdomInfo,
                        int queueSize,
                        bool approxSync); 
        void setupRGBD5Callbacks(
                        ros::NodeHandle & nh,
                        ros::NodeHandle & pnh,
                        bool subscribeOdom,
                        bool subscribeUserData,
                        bool subscribeScan2d,
                        bool subscribeScan3d,
                        bool subscribeScanDesc,
                        bool subscribeOdomInfo,
                        int queueSize,
                        bool approxSync);
        void setupRGBD6Callbacks(
                        ros::NodeHandle & nh,
                        ros::NodeHandle & pnh,
                        bool subscribeOdom,
                        bool subscribeUserData,
                        bool subscribeScan2d,
                        bool subscribeScan3d,
                        bool subscribeScanDesc,
                        bool subscribeOdomInfo,
                        int queueSize,
                        bool approxSync);
#endif
        void setupScanCallbacks(
                        ros::NodeHandle & nh,
                        ros::NodeHandle & pnh,
                        bool subscribeScan2d,
                        bool subscribeScanDesc,
                        bool subscribeOdom,
                        bool subscribeUserData,
                        bool subscribeOdomInfo,
                        int queueSize,
                        bool approxSync);
        void setupOdomCallbacks(
                        ros::NodeHandle & nh,
                        ros::NodeHandle & pnh,
                        bool subscribeUserData,
                        bool subscribeOdomInfo,
                        int queueSize,
                        bool approxSync);

protected:
        std::string subscribedTopicsMsg_;
        int queueSize_;

private:
        bool approxSync_;
        boost::thread* warningThread_;
        bool callbackCalled_;
        bool subscribedToDepth_;
        bool subscribedToStereo_;
        bool subscribedToRGB_;
        bool subscribedToOdom_;
        bool subscribedToRGBD_;
        bool subscribedToScan2d_;
        bool subscribedToScan3d_;
        bool subscribedToScanDescriptor_;
        bool subscribedToOdomInfo_;
        std::string name_;

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

        //for rgbd callback
        ros::Subscriber rgbdSub_;
        std::vector<message_filters::Subscriber<rtabmap_ros::RGBDImage>*> rgbdSubs_;

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

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

        ros::Subscriber scan2dSubOnly_;
        ros::Subscriber scan3dSubOnly_;
        ros::Subscriber scanDescSubOnly_;
        ros::Subscriber odomSubOnly_;

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

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

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

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

        // Stereo
        DATA_SYNCS4(stereo, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo);
        DATA_SYNCS5(stereoInfo, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo, rtabmap_ros::OdomInfo);

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

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

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

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

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

        // 1 RGBD
        void rgbdCallback(const rtabmap_ros::RGBDImageConstPtr&);
        DATA_SYNCS2(rgbdScan2d, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan);
        DATA_SYNCS2(rgbdScan3d, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2)
        DATA_SYNCS2(rgbdScanDesc, rtabmap_ros::RGBDImage, rtabmap_ros::ScanDescriptor);
        DATA_SYNCS2(rgbdInfo, rtabmap_ros::RGBDImage, rtabmap_ros::OdomInfo);

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

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

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

#ifdef RTABMAP_SYNC_MULTI_RGBD
        // 2 RGBD
        DATA_SYNCS2(rgbd2, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage);
        DATA_SYNCS3(rgbd2Scan2d, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan);
        DATA_SYNCS3(rgbd2Scan3d, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2);
        DATA_SYNCS3(rgbd2ScanDesc, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::ScanDescriptor);
        DATA_SYNCS3(rgbd2Info, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::OdomInfo);

        // 2 RGBD + Odom
        DATA_SYNCS3(rgbd2Odom, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage);
        DATA_SYNCS4(rgbd2OdomScan2d, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan);
        DATA_SYNCS4(rgbd2OdomScan3d, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2);
        DATA_SYNCS4(rgbd2OdomScanDesc, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::ScanDescriptor);
        DATA_SYNCS4(rgbd2OdomInfo, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::OdomInfo);

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

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

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

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

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

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

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

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

#ifdef RTABMAP_SYNC_USER_DATA
        // 4 RGBD + User Data
        DATA_SYNCS5(rgbd4Data, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage);
        DATA_SYNCS6(rgbd4DataScan2d, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan);
        DATA_SYNCS6(rgbd4DataScan3d, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2);
        DATA_SYNCS6(rgbd4DataScanDesc, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::ScanDescriptor);
        DATA_SYNCS6(rgbd4DataInfo, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::OdomInfo);

        // 4 RGBD + Odom + User Data
        DATA_SYNCS6(rgbd4OdomData, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage);
        DATA_SYNCS7(rgbd4OdomDataScan2d, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan);
        DATA_SYNCS7(rgbd4OdomDataScan3d, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2);
        DATA_SYNCS7(rgbd4OdomDataScanDesc, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::ScanDescriptor);
        DATA_SYNCS7(rgbd4OdomDataInfo, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::OdomInfo);
#endif

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

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

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

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

#endif //RTABMAP_SYNC_MULTI_RGBD

        // Scan
        void scan2dCallback(const sensor_msgs::LaserScanConstPtr&);
        void scan3dCallback(const sensor_msgs::PointCloud2ConstPtr&);
        void scanDescCallback(const rtabmap_ros::ScanDescriptorConstPtr&);
        DATA_SYNCS2(scan2dInfo, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
        DATA_SYNCS2(scan3dInfo, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
        DATA_SYNCS2(scanDescInfo, rtabmap_ros::ScanDescriptor, rtabmap_ros::OdomInfo);

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

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

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

        // Odom
        void odomCallback(const nav_msgs::OdometryConstPtr&);
        DATA_SYNCS2(odomInfo, nav_msgs::Odometry, rtabmap_ros::OdomInfo);

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

} /* namespace rtabmap_ros */

#endif /* INCLUDE_RTABMAP_ROS_COMMONDATASUBSCRIBER_H_ */