CommonDataSubscriberScan.cpp
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1 /*
2 Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
3 All rights reserved.
4 
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15 
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25 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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27 
28 #include <rtabmap_ros/CommonDataSubscriber.h>
29 
30 namespace rtabmap_ros {
31 
32 void CommonDataSubscriber::scan2dCallback(
33  const sensor_msgs::LaserScanConstPtr& scanMsg)
34 {
35  callbackCalled();
36  rtabmap_ros::UserDataConstPtr userDataMsg; // Null
37  nav_msgs::OdometryConstPtr odomMsg; // Null
38  sensor_msgs::PointCloud2 scan3dMsg; // Null
39  rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
40  commonLaserScanCallback(odomMsg, userDataMsg, *scanMsg, scan3dMsg, odomInfoMsg);
41 }
42 void CommonDataSubscriber::scan3dCallback(
43  const sensor_msgs::PointCloud2ConstPtr& scanMsg)
44 {
45  callbackCalled();
46  rtabmap_ros::UserDataConstPtr userDataMsg; // Null
47  nav_msgs::OdometryConstPtr odomMsg; // Null
48  sensor_msgs::LaserScan scan2dMsg; // Null
49  rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
50  commonLaserScanCallback(odomMsg, userDataMsg, scan2dMsg, *scanMsg, odomInfoMsg);
51 }
52 void CommonDataSubscriber::scanDescCallback(
53  const rtabmap_ros::ScanDescriptorConstPtr& scanMsg)
54 {
55  callbackCalled();
56  rtabmap_ros::UserDataConstPtr userDataMsg; // Null
57  nav_msgs::OdometryConstPtr odomMsg; // Null
58  rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
59  commonLaserScanCallback(odomMsg, userDataMsg, scanMsg->scan, scanMsg->scan_cloud, odomInfoMsg, scanMsg->global_descriptor);
60 }
61 void CommonDataSubscriber::scan2dInfoCallback(
62  const sensor_msgs::LaserScanConstPtr& scanMsg,
63  const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
64 {
65  callbackCalled();
66  rtabmap_ros::UserDataConstPtr userDataMsg; // Null
67  nav_msgs::OdometryConstPtr odomMsg; // Null
68  sensor_msgs::PointCloud2 scan3dMsg; // Null
69  commonLaserScanCallback(odomMsg, userDataMsg, *scanMsg, scan3dMsg, odomInfoMsg);
70 }
71 void CommonDataSubscriber::scan3dInfoCallback(
72  const sensor_msgs::PointCloud2ConstPtr& scanMsg,
73  const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
74 {
75  callbackCalled();
76  rtabmap_ros::UserDataConstPtr userDataMsg; // Null
77  nav_msgs::OdometryConstPtr odomMsg; // Null
78  sensor_msgs::LaserScan scan2dMsg; // Null
79  commonLaserScanCallback(odomMsg, userDataMsg, scan2dMsg, *scanMsg, odomInfoMsg);
80 }
81 void CommonDataSubscriber::scanDescInfoCallback(
82  const rtabmap_ros::ScanDescriptorConstPtr& scanMsg,
83  const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
84 {
85  callbackCalled();
86  rtabmap_ros::UserDataConstPtr userDataMsg; // Null
87  nav_msgs::OdometryConstPtr odomMsg; // Null
88  commonLaserScanCallback(odomMsg, userDataMsg, scanMsg->scan, scanMsg->scan_cloud, odomInfoMsg, scanMsg->global_descriptor);
89 }
90 
91 void CommonDataSubscriber::odomScan2dCallback(
92  const nav_msgs::OdometryConstPtr & odomMsg,
93  const sensor_msgs::LaserScanConstPtr& scanMsg)
94 {
95  callbackCalled();
96  rtabmap_ros::UserDataConstPtr userDataMsg; // Null
97  sensor_msgs::PointCloud2 scan3dMsg; // Null
98  rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
99  commonLaserScanCallback(odomMsg, userDataMsg, *scanMsg, scan3dMsg, odomInfoMsg);
100 }
101 void CommonDataSubscriber::odomScan3dCallback(
102  const nav_msgs::OdometryConstPtr & odomMsg,
103  const sensor_msgs::PointCloud2ConstPtr& scanMsg)
104 {
105  callbackCalled();
106  rtabmap_ros::UserDataConstPtr userDataMsg; // Null
107  sensor_msgs::LaserScan scan2dMsg; // Null
108  rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
109  commonLaserScanCallback(odomMsg, userDataMsg, scan2dMsg, *scanMsg, odomInfoMsg);
110 }
111 void CommonDataSubscriber::odomScanDescCallback(
112  const nav_msgs::OdometryConstPtr & odomMsg,
113  const rtabmap_ros::ScanDescriptorConstPtr& scanMsg)
114 {
115  callbackCalled();
116  rtabmap_ros::UserDataConstPtr userDataMsg; // Null
117  rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
118  commonLaserScanCallback(odomMsg, userDataMsg, scanMsg->scan, scanMsg->scan_cloud, odomInfoMsg, scanMsg->global_descriptor);
119 }
120 void CommonDataSubscriber::odomScan2dInfoCallback(
121  const nav_msgs::OdometryConstPtr & odomMsg,
122  const sensor_msgs::LaserScanConstPtr& scanMsg,
123  const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
124 {
125  callbackCalled();
126  rtabmap_ros::UserDataConstPtr userDataMsg; // Null
127  sensor_msgs::PointCloud2 scan3dMsg; // Null
128  commonLaserScanCallback(odomMsg, userDataMsg, *scanMsg, scan3dMsg, odomInfoMsg);
129 }
130 void CommonDataSubscriber::odomScan3dInfoCallback(
131  const nav_msgs::OdometryConstPtr & odomMsg,
132  const sensor_msgs::PointCloud2ConstPtr& scanMsg,
133  const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
134 {
135  callbackCalled();
136  rtabmap_ros::UserDataConstPtr userDataMsg; // Null
137  sensor_msgs::LaserScan scan2dMsg; // Null
138  commonLaserScanCallback(odomMsg, userDataMsg, scan2dMsg, *scanMsg, odomInfoMsg);
139 }
140 void CommonDataSubscriber::odomScanDescInfoCallback(
141  const nav_msgs::OdometryConstPtr & odomMsg,
142  const rtabmap_ros::ScanDescriptorConstPtr& scanMsg,
143  const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
144 {
145  callbackCalled();
146  rtabmap_ros::UserDataConstPtr userDataMsg; // Null
147  commonLaserScanCallback(odomMsg, userDataMsg, scanMsg->scan, scanMsg->scan_cloud, odomInfoMsg, scanMsg->global_descriptor);
148 }
149 
150 #ifdef RTABMAP_SYNC_USER_DATA
151 void CommonDataSubscriber::dataScan2dCallback(
152  const rtabmap_ros::UserDataConstPtr & userDataMsg,
153  const sensor_msgs::LaserScanConstPtr& scanMsg)
154 {
155  callbackCalled();
156  nav_msgs::OdometryConstPtr odomMsg; // null
157  sensor_msgs::PointCloud2 scan3dMsg; // Null
158  rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
159  commonLaserScanCallback(odomMsg, userDataMsg, *scanMsg, scan3dMsg, odomInfoMsg);
160 }
161 void CommonDataSubscriber::dataScan3dCallback(
162  const rtabmap_ros::UserDataConstPtr & userDataMsg,
163  const sensor_msgs::PointCloud2ConstPtr& scanMsg)
164 {
165  callbackCalled();
166  nav_msgs::OdometryConstPtr odomMsg; // null
167  sensor_msgs::LaserScan scan2dMsg; // Null
168  rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
169  commonLaserScanCallback(odomMsg, userDataMsg, scan2dMsg, *scanMsg, odomInfoMsg);
170 }
171 void CommonDataSubscriber::dataScanDescCallback(
172  const rtabmap_ros::UserDataConstPtr & userDataMsg,
173  const rtabmap_ros::ScanDescriptorConstPtr& scanMsg)
174 {
175  callbackCalled();
176  nav_msgs::OdometryConstPtr odomMsg; // null
177  rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
178  commonLaserScanCallback(odomMsg, userDataMsg, scanMsg->scan, scanMsg->scan_cloud, odomInfoMsg, scanMsg->global_descriptor);
179 }
180 void CommonDataSubscriber::dataScan2dInfoCallback(
181  const rtabmap_ros::UserDataConstPtr & userDataMsg,
182  const sensor_msgs::LaserScanConstPtr& scanMsg,
183  const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
184 {
185  callbackCalled();
186  nav_msgs::OdometryConstPtr odomMsg; // null
187  sensor_msgs::PointCloud2 scan3dMsg; // Null
188  commonLaserScanCallback(odomMsg, userDataMsg, *scanMsg, scan3dMsg, odomInfoMsg);
189 }
190 void CommonDataSubscriber::dataScan3dInfoCallback(
191  const rtabmap_ros::UserDataConstPtr & userDataMsg,
192  const sensor_msgs::PointCloud2ConstPtr& scanMsg,
193  const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
194 {
195  callbackCalled();
196  nav_msgs::OdometryConstPtr odomMsg; // null
197  sensor_msgs::LaserScan scan2dMsg; // Null
198  commonLaserScanCallback(odomMsg, userDataMsg, scan2dMsg, *scanMsg, odomInfoMsg);
199 }
200 void CommonDataSubscriber::dataScanDescInfoCallback(
201  const rtabmap_ros::UserDataConstPtr & userDataMsg,
202  const rtabmap_ros::ScanDescriptorConstPtr& scanMsg,
203  const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
204 {
205  callbackCalled();
206  nav_msgs::OdometryConstPtr odomMsg; // null
207  commonLaserScanCallback(odomMsg, userDataMsg, scanMsg->scan, scanMsg->scan_cloud, odomInfoMsg, scanMsg->global_descriptor);
208 }
209 
210 void CommonDataSubscriber::odomDataScan2dCallback(
211  const nav_msgs::OdometryConstPtr & odomMsg,
212  const rtabmap_ros::UserDataConstPtr & userDataMsg,
213  const sensor_msgs::LaserScanConstPtr& scanMsg)
214 {
215  callbackCalled();
216  sensor_msgs::PointCloud2 scan3dMsg; // Null
217  rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
218  commonLaserScanCallback(odomMsg, userDataMsg, *scanMsg, scan3dMsg, odomInfoMsg);
219 }
220 void CommonDataSubscriber::odomDataScan3dCallback(
221  const nav_msgs::OdometryConstPtr & odomMsg,
222  const rtabmap_ros::UserDataConstPtr & userDataMsg,
223  const sensor_msgs::PointCloud2ConstPtr& scanMsg)
224 {
225  callbackCalled();
226  sensor_msgs::LaserScan scan2dMsg; // Null
227  rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
228  commonLaserScanCallback(odomMsg, userDataMsg, scan2dMsg, *scanMsg, odomInfoMsg);
229 }
230 void CommonDataSubscriber::odomDataScanDescCallback(
231  const nav_msgs::OdometryConstPtr & odomMsg,
232  const rtabmap_ros::UserDataConstPtr & userDataMsg,
233  const rtabmap_ros::ScanDescriptorConstPtr& scanMsg)
234 {
235  callbackCalled();
236  rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
237  commonLaserScanCallback(odomMsg, userDataMsg, scanMsg->scan, scanMsg->scan_cloud, odomInfoMsg, scanMsg->global_descriptor);
238 }
239 void CommonDataSubscriber::odomDataScan2dInfoCallback(
240  const nav_msgs::OdometryConstPtr & odomMsg,
241  const rtabmap_ros::UserDataConstPtr & userDataMsg,
242  const sensor_msgs::LaserScanConstPtr& scanMsg,
243  const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
244 {
245  callbackCalled();
246  sensor_msgs::PointCloud2 scan3dMsg; // Null
247  commonLaserScanCallback(odomMsg, userDataMsg, *scanMsg, scan3dMsg, odomInfoMsg);
248 }
249 void CommonDataSubscriber::odomDataScan3dInfoCallback(
250  const nav_msgs::OdometryConstPtr & odomMsg,
251  const rtabmap_ros::UserDataConstPtr & userDataMsg,
252  const sensor_msgs::PointCloud2ConstPtr& scanMsg,
253  const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
254 {
255  callbackCalled();
256  sensor_msgs::LaserScan scan2dMsg; // Null
257  commonLaserScanCallback(odomMsg, userDataMsg, scan2dMsg, *scanMsg, odomInfoMsg);
258 }
259 void CommonDataSubscriber::odomDataScanDescInfoCallback(
260  const nav_msgs::OdometryConstPtr & odomMsg,
261  const rtabmap_ros::UserDataConstPtr & userDataMsg,
262  const rtabmap_ros::ScanDescriptorConstPtr& scanMsg,
263  const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
264 {
265  callbackCalled();
266  commonLaserScanCallback(odomMsg, userDataMsg, scanMsg->scan, scanMsg->scan_cloud, odomInfoMsg, scanMsg->global_descriptor);
267 }
268 #endif
269 
270 void CommonDataSubscriber::setupScanCallbacks(
271  ros::NodeHandle & nh,
272  ros::NodeHandle & pnh,
273  bool scan2dTopic,
274  bool scanDescTopic,
275  bool subscribeOdom,
276  bool subscribeUserData,
277  bool subscribeOdomInfo,
278  int queueSize,
279  bool approxSync)
280 {
281  ROS_INFO("Setup scan callback");
282 
283  if(subscribeOdom || subscribeUserData || subscribeOdomInfo)
284  {
285  if(scanDescTopic)
286  {
287  subscribedToScanDescriptor_ = true;
288  scanDescSub_.subscribe(nh, "scan_descriptor", queueSize);
289  }
290  else if(scan2dTopic)
291  {
292  subscribedToScan2d_ = true;
293  scanSub_.subscribe(nh, "scan", queueSize);
294  }
295  else
296  {
297  subscribedToScan3d_ = true;
298  scan3dSub_.subscribe(nh, "scan_cloud", queueSize);
299  }
300 
301 #ifdef RTABMAP_SYNC_USER_DATA
302  if(subscribeOdom && subscribeUserData)
303  {
304  odomSub_.subscribe(nh, "odom", queueSize);
305  userDataSub_.subscribe(nh, "user_data", queueSize);
306 
307  if(scanDescTopic)
308  {
309  if(subscribeOdomInfo)
310  {
311  subscribedToOdomInfo_ = true;
312  odomInfoSub_.subscribe(nh, "odom_info", queueSize);
313  SYNC_DECL4(CommonDataSubscriber, odomDataScanDescInfo, approxSync, queueSize, odomSub_, userDataSub_, scanDescSub_, odomInfoSub_);
314  }
315  else
316  {
317  SYNC_DECL3(CommonDataSubscriber, odomDataScanDesc, approxSync, queueSize, odomSub_, userDataSub_, scanDescSub_);
318  }
319  }
320  else if(scan2dTopic)
321  {
322  if(subscribeOdomInfo)
323  {
324  subscribedToOdomInfo_ = true;
325  odomInfoSub_.subscribe(nh, "odom_info", queueSize);
326  SYNC_DECL4(CommonDataSubscriber, odomDataScan2dInfo, approxSync, queueSize, odomSub_, userDataSub_, scanSub_, odomInfoSub_);
327  }
328  else
329  {
330  SYNC_DECL3(CommonDataSubscriber, odomDataScan2d, approxSync, queueSize, odomSub_, userDataSub_, scanSub_);
331  }
332  }
333  else
334  {
335  if(subscribeOdomInfo)
336  {
337  subscribedToOdomInfo_ = true;
338  odomInfoSub_.subscribe(nh, "odom_info", queueSize);
339  SYNC_DECL4(CommonDataSubscriber, odomDataScan3dInfo, approxSync, queueSize, odomSub_, userDataSub_, scan3dSub_, odomInfoSub_);
340  }
341  else
342  {
343  SYNC_DECL3(CommonDataSubscriber, odomDataScan3d, approxSync, queueSize, odomSub_, userDataSub_, scan3dSub_);
344  }
345  }
346  }
347  else
348 #endif
349  if(subscribeOdom)
350  {
351  odomSub_.subscribe(nh, "odom", queueSize);
352 
353  if(scanDescTopic)
354  {
355  if(subscribeOdomInfo)
356  {
357  subscribedToOdomInfo_ = true;
358  odomInfoSub_.subscribe(nh, "odom_info", queueSize);
359  SYNC_DECL3(CommonDataSubscriber, odomScanDescInfo, approxSync, queueSize, odomSub_, scanDescSub_, odomInfoSub_);
360  }
361  else
362  {
363  SYNC_DECL2(CommonDataSubscriber, odomScanDesc, approxSync, queueSize, odomSub_, scanDescSub_);
364  }
365  }
366  else if(scan2dTopic)
367  {
368  if(subscribeOdomInfo)
369  {
370  subscribedToOdomInfo_ = true;
371  odomInfoSub_.subscribe(nh, "odom_info", queueSize);
372  SYNC_DECL3(CommonDataSubscriber, odomScan2dInfo, approxSync, queueSize, odomSub_, scanSub_, odomInfoSub_);
373  }
374  else
375  {
376  SYNC_DECL2(CommonDataSubscriber, odomScan2d, approxSync, queueSize, odomSub_, scanSub_);
377  }
378  }
379  else
380  {
381  if(subscribeOdomInfo)
382  {
383  subscribedToOdomInfo_ = true;
384  odomInfoSub_.subscribe(nh, "odom_info", queueSize);
385  SYNC_DECL3(CommonDataSubscriber, odomScan3dInfo, approxSync, queueSize, odomSub_, scan3dSub_, odomInfoSub_);
386  }
387  else
388  {
389  SYNC_DECL2(CommonDataSubscriber, odomScan3d, approxSync, queueSize, odomSub_, scan3dSub_);
390  }
391  }
392  }
393 #ifdef RTABMAP_SYNC_USER_DATA
394  else if(subscribeUserData)
395  {
396  userDataSub_.subscribe(nh, "user_data", queueSize);
397 
398  if(scanDescTopic)
399  {
400  if(subscribeOdomInfo)
401  {
402  subscribedToOdomInfo_ = true;
403  odomInfoSub_.subscribe(nh, "odom_info", queueSize);
404  SYNC_DECL3(CommonDataSubscriber, dataScanDescInfo, approxSync, queueSize, userDataSub_, scanDescSub_, odomInfoSub_);
405  }
406  else
407  {
408  SYNC_DECL2(CommonDataSubscriber, dataScanDesc, approxSync, queueSize, userDataSub_, scanDescSub_);
409  }
410  }
411  else if(scan2dTopic)
412  {
413  if(subscribeOdomInfo)
414  {
415  subscribedToOdomInfo_ = true;
416  odomInfoSub_.subscribe(nh, "odom_info", queueSize);
417  SYNC_DECL3(CommonDataSubscriber, dataScan2dInfo, approxSync, queueSize, userDataSub_, scanSub_, odomInfoSub_);
418  }
419  else
420  {
421  SYNC_DECL2(CommonDataSubscriber, dataScan2d, approxSync, queueSize, userDataSub_, scanSub_);
422  }
423  }
424  else
425  {
426  if(subscribeOdomInfo)
427  {
428  subscribedToOdomInfo_ = true;
429  odomInfoSub_.subscribe(nh, "odom_info", queueSize);
430  SYNC_DECL3(CommonDataSubscriber, dataScan3dInfo, approxSync, queueSize, userDataSub_, scan3dSub_, odomInfoSub_);
431  }
432  else
433  {
434  SYNC_DECL2(CommonDataSubscriber, dataScan3d, approxSync, queueSize, userDataSub_, scan3dSub_);
435  }
436  }
437  }
438 #endif
439  else if(subscribeOdomInfo)
440  {
441  subscribedToOdomInfo_ = true;
442  odomInfoSub_.subscribe(nh, "odom_info", queueSize);
443  if(scanDescTopic)
444  {
445  SYNC_DECL2(CommonDataSubscriber, scanDescInfo, approxSync, queueSize, scanDescSub_, odomInfoSub_);
446  }
447  else if(scan2dTopic)
448  {
449  SYNC_DECL2(CommonDataSubscriber, scan2dInfo, approxSync, queueSize, scanSub_, odomInfoSub_);
450  }
451  else
452  {
453  SYNC_DECL2(CommonDataSubscriber, scan3dInfo, approxSync, queueSize, scan3dSub_, odomInfoSub_);
454  }
455  }
456  }
457  else
458  {
459  if(scanDescTopic)
460  {
461  subscribedToScanDescriptor_ = true;
462  scanDescSubOnly_ = nh.subscribe("scan_descriptor", queueSize, &CommonDataSubscriber::scanDescCallback, this);
463  subscribedTopicsMsg_ =
464  uFormat("\n%s subscribed to:\n %s",
465  ros::this_node::getName().c_str(),
466  scanDescSubOnly_.getTopic().c_str());
467  }
468  else if(scan2dTopic)
469  {
470  subscribedToScan2d_ = true;
471  scan2dSubOnly_ = nh.subscribe("scan", queueSize, &CommonDataSubscriber::scan2dCallback, this);
472  subscribedTopicsMsg_ =
473  uFormat("\n%s subscribed to:\n %s",
474  ros::this_node::getName().c_str(),
475  scan2dSubOnly_.getTopic().c_str());
476  }
477  else
478  {
479  subscribedToScan3d_ = true;
480  scan3dSubOnly_ = nh.subscribe("scan_cloud", queueSize, &CommonDataSubscriber::scan3dCallback, this);
481  subscribedTopicsMsg_ =
482  uFormat("\n%s subscribed to:\n %s",
483  ros::this_node::getName().c_str(),
484  scan3dSubOnly_.getTopic().c_str());
485  }
486  }
487 }
488 
489 } /* namespace rtabmap_ros */
uFormat
std::string uFormat(const char *fmt,...)
ros::Subscriber::getTopic
std::string getTopic() const
ros::NodeHandle
rtabmap_ros::CommonDataSubscriber::scanDescCallback
void scanDescCallback(const rtabmap_ros::ScanDescriptorConstPtr &)
Definition: CommonDataSubscriberScan.cpp:52
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Subscriber subscribe(const std::string &topic, uint32_t queue_size, void(T::*fp)(M), T *obj, const TransportHints &transport_hints=TransportHints())
SYNC_DECL3
#define SYNC_DECL3(CLASS, PREFIX, APPROX, QUEUE_SIZE, SUB0, SUB1, SUB2)
Definition: CommonDataSubscriberDefines.h:127
ros::this_node::getName
ROSCPP_DECL const std::string & getName()
rtabmap_ros::CommonDataSubscriber::callbackCalled
void callbackCalled()
Definition: CommonDataSubscriber.h:126
rtabmap_ros::CommonDataSubscriber::userDataSub_
message_filters::Subscriber< rtabmap_ros::UserData > userDataSub_
Definition: CommonDataSubscriber.h:290
rtabmap_ros::CommonDataSubscriber::subscribedToOdomInfo_
bool subscribedToOdomInfo_
Definition: CommonDataSubscriber.h:269
rtabmap_ros
Definition: CommonDataSubscriber.h:57
rtabmap_ros::CommonDataSubscriber::odomInfoSub_
message_filters::Subscriber< rtabmap_ros::OdomInfo > odomInfoSub_
Definition: CommonDataSubscriber.h:294
rtabmap_ros::CommonDataSubscriber::subscribedToScan2d_
bool subscribedToScan2d_
Definition: CommonDataSubscriber.h:266
rtabmap_ros::CommonDataSubscriber::commonLaserScanCallback
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
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ros::Subscriber scanDescSubOnly_
Definition: CommonDataSubscriber.h:298
rtabmap_ros::CommonDataSubscriber::setupScanCallbacks
void setupScanCallbacks(ros::NodeHandle &nh, ros::NodeHandle &pnh, bool subscribeScan2d, bool subscribeScanDesc, bool subscribeOdom, bool subscribeUserData, bool subscribeOdomInfo, int queueSize, bool approxSync)
Definition: CommonDataSubscriberScan.cpp:270
rtabmap_ros::CommonDataSubscriber::scan3dCallback
void scan3dCallback(const sensor_msgs::PointCloud2ConstPtr &)
Definition: CommonDataSubscriberScan.cpp:42
ROS_INFO
#define ROS_INFO(...)
rtabmap_ros::CommonDataSubscriber::subscribedToScanDescriptor_
bool subscribedToScanDescriptor_
Definition: CommonDataSubscriber.h:268
rtabmap_ros::CommonDataSubscriber::scan2dCallback
void scan2dCallback(const sensor_msgs::LaserScanConstPtr &)
Definition: CommonDataSubscriberScan.cpp:32
rtabmap_ros::CommonDataSubscriber::scanSub_
message_filters::Subscriber< sensor_msgs::LaserScan > scanSub_
Definition: CommonDataSubscriber.h:291
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message_filters::Subscriber< rtabmap_ros::ScanDescriptor > scanDescSub_
Definition: CommonDataSubscriber.h:293
rtabmap_ros::CommonDataSubscriber::odomSub_
message_filters::Subscriber< nav_msgs::Odometry > odomSub_
Definition: CommonDataSubscriber.h:289
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bool subscribedToScan3d_
Definition: CommonDataSubscriber.h:267
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message_filters::Subscriber< sensor_msgs::PointCloud2 > scan3dSub_
Definition: CommonDataSubscriber.h:292
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void subscribe(ros::NodeHandle &nh, const std::string &topic, uint32_t queue_size, const ros::TransportHints &transport_hints=ros::TransportHints(), ros::CallbackQueueInterface *callback_queue=0)
rtabmap_ros::CommonDataSubscriber::scan3dSubOnly_
ros::Subscriber scan3dSubOnly_
Definition: CommonDataSubscriber.h:297
rtabmap_ros::CommonDataSubscriber::scan2dSubOnly_
ros::Subscriber scan2dSubOnly_
Definition: CommonDataSubscriber.h:296
rtabmap_ros::CommonDataSubscriber::subscribedTopicsMsg_
std::string subscribedTopicsMsg_
Definition: CommonDataSubscriber.h:254
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Definition: CommonDataSubscriber.h:59
SYNC_DECL4
#define SYNC_DECL4(CLASS, PREFIX, APPROX, QUEUE_SIZE, SUB0, SUB1, SUB2, SUB3)
Definition: CommonDataSubscriberDefines.h:147
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#define SYNC_DECL2(CLASS, PREFIX, APPROX, QUEUE_SIZE, SUB0, SUB1)
Definition: CommonDataSubscriberDefines.h:108

rtabmap_ros
Author(s): Mathieu Labbe
autogenerated on Tue Jan 24 2023 04:04:40