CommonDataSubscriber.h
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2 Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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27 
28 #ifndef INCLUDE_RTABMAP_ROS_COMMONDATASUBSCRIBER_H_
29 #define INCLUDE_RTABMAP_ROS_COMMONDATASUBSCRIBER_H_
30 
31 #include <message_filters/subscriber.h>
32 #include <message_filters/synchronizer.h>
33 #include <message_filters/sync_policies/approximate_time.h>
34 #include <message_filters/sync_policies/exact_time.h>
35 
36 #include <image_transport/image_transport.h>
37 #include <image_transport/subscriber_filter.h>
38 
39 #include <cv_bridge/cv_bridge.h>
40 
41 #include <sensor_msgs/PointCloud2.h>
42 #include <sensor_msgs/Image.h>
43 #include <sensor_msgs/CameraInfo.h>
44 #include <sensor_msgs/LaserScan.h>
45 
46 #include <nav_msgs/Odometry.h>
47 
48 #include <rtabmap_ros/RGBDImage.h>
49 #include <rtabmap_ros/RGBDImages.h>
50 #include <rtabmap_ros/UserData.h>
51 #include <rtabmap_ros/OdomInfo.h>
52 #include <rtabmap_ros/ScanDescriptor.h>
53 #include <rtabmap_ros/CommonDataSubscriberDefines.h>
54 
55 #include <boost/thread.hpp>
56 
57 namespace rtabmap_ros {
58 
59 class CommonDataSubscriber {
60 public:
61  CommonDataSubscriber(bool gui);
62  virtual ~CommonDataSubscriber();
63 
64  bool isSubscribedToDepth() const {return subscribedToDepth_;}
65  bool isSubscribedToStereo() const {return subscribedToStereo_;}
66  bool isSubscribedToRGB() const {return subscribedToRGB_;}
67  bool isSubscribedToOdom() const {return subscribedToOdom_;}
68  bool isSubscribedToRGBD() const {return subscribedToRGBD_;}
69  bool isSubscribedToScan2d() const {return subscribedToScan2d_;}
70  bool isSubscribedToScan3d() const {return subscribedToScan3d_;}
71  bool isSubscribedToOdomInfo() const {return subscribedToOdomInfo_;}
72  bool isDataSubscribed() const {return isSubscribedToDepth() || isSubscribedToStereo() || isSubscribedToRGBD() || isSubscribedToScan2d() || isSubscribedToScan3d() || isSubscribedToRGB() || isSubscribedToOdom();}
73  int rgbdCameras() const {return isSubscribedToRGBD()?(int)rgbdSubs_.size():0;}
74  int getQueueSize() const {return queueSize_;}
75  bool isApproxSync() const {return approxSync_;}
76  const std::string & name() const {return name_;}
77 
78 protected:
79  void setupCallbacks(
80  ros::NodeHandle & nh,
81  ros::NodeHandle & pnh,
82  const std::string & name);
83  virtual void commonMultiCameraCallback(
84  const nav_msgs::OdometryConstPtr & odomMsg,
85  const rtabmap_ros::UserDataConstPtr & userDataMsg,
86  const std::vector<cv_bridge::CvImageConstPtr> & imageMsgs,
87  const std::vector<cv_bridge::CvImageConstPtr> & depthMsgs,
88  const std::vector<sensor_msgs::CameraInfo> & cameraInfoMsgs,
89  const std::vector<sensor_msgs::CameraInfo> & depthCameraInfoMsgs,
90  const sensor_msgs::LaserScan& scanMsg,
91  const sensor_msgs::PointCloud2& scan3dMsg,
92  const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg,
93  const std::vector<rtabmap_ros::GlobalDescriptor> & globalDescriptorMsgs = std::vector<rtabmap_ros::GlobalDescriptor>(),
94  const std::vector<std::vector<rtabmap_ros::KeyPoint> > & localKeyPoints = std::vector<std::vector<rtabmap_ros::KeyPoint> >(),
95  const std::vector<std::vector<rtabmap_ros::Point3f> > & localPoints3d = std::vector<std::vector<rtabmap_ros::Point3f> >(),
96  const std::vector<cv::Mat> & localDescriptors = std::vector<cv::Mat>()) = 0;
97  virtual void commonLaserScanCallback(
98  const nav_msgs::OdometryConstPtr & odomMsg,
99  const rtabmap_ros::UserDataConstPtr & userDataMsg,
100  const sensor_msgs::LaserScan& scanMsg,
101  const sensor_msgs::PointCloud2& scan3dMsg,
102  const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg,
103  const rtabmap_ros::GlobalDescriptor & globalDescriptor = rtabmap_ros::GlobalDescriptor()) = 0;
104  virtual void commonOdomCallback(
105  const nav_msgs::OdometryConstPtr & odomMsg,
106  const rtabmap_ros::UserDataConstPtr & userDataMsg,
107  const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg) = 0;
108 
109  void commonSingleCameraCallback(
110  const nav_msgs::OdometryConstPtr & odomMsg,
111  const rtabmap_ros::UserDataConstPtr & userDataMsg,
112  const cv_bridge::CvImageConstPtr & imageMsg,
113  const cv_bridge::CvImageConstPtr & depthMsg,
114  const sensor_msgs::CameraInfo & rgbCameraInfoMsg,
115  const sensor_msgs::CameraInfo & depthCameraInfoMsg,
116  const sensor_msgs::LaserScan& scanMsg,
117  const sensor_msgs::PointCloud2& scan3dMsg,
118  const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg,
119  const std::vector<rtabmap_ros::GlobalDescriptor> & globalDescriptorMsgs = std::vector<rtabmap_ros::GlobalDescriptor>(),
120  const std::vector<rtabmap_ros::KeyPoint> & localKeyPoints = std::vector<rtabmap_ros::KeyPoint>(),
121  const std::vector<rtabmap_ros::Point3f> & localPoints3d = std::vector<rtabmap_ros::Point3f>(),
122  const cv::Mat & localDescriptors = cv::Mat());
123 
124 private:
125  void warningLoop();
126  void callbackCalled() {callbackCalled_ = true;}
127  void setupDepthCallbacks(
128  ros::NodeHandle & nh,
129  ros::NodeHandle & pnh,
130  bool subscribeOdom,
131  bool subscribeUserData,
132  bool subscribeScan2d,
133  bool subscribeScan3d,
134  bool subscribeScanDesc,
135  bool subscribeOdomInfo,
136  int queueSize,
137  bool approxSync);
138  void setupStereoCallbacks(
139  ros::NodeHandle & nh,
140  ros::NodeHandle & pnh,
141  bool subscribeOdom,
142  bool subscribeOdomInfo,
143  int queueSize,
144  bool approxSync);
145  void setupRGBCallbacks(
146  ros::NodeHandle & nh,
147  ros::NodeHandle & pnh,
148  bool subscribeOdom,
149  bool subscribeUserData,
150  bool subscribeScan2d,
151  bool subscribeScan3d,
152  bool subscribeScanDesc,
153  bool subscribeOdomInfo,
154  int queueSize,
155  bool approxSync);
156  void setupRGBDCallbacks(
157  ros::NodeHandle & nh,
158  ros::NodeHandle & pnh,
159  bool subscribeOdom,
160  bool subscribeUserData,
161  bool subscribeScan2d,
162  bool subscribeScan3d,
163  bool subscribeScanDesc,
164  bool subscribeOdomInfo,
165  int queueSize,
166  bool approxSync);
167  void setupRGBDXCallbacks(
168  ros::NodeHandle & nh,
169  ros::NodeHandle & pnh,
170  bool subscribeOdom,
171  bool subscribeUserData,
172  bool subscribeScan2d,
173  bool subscribeScan3d,
174  bool subscribeScanDesc,
175  bool subscribeOdomInfo,
176  int queueSize,
177  bool approxSync);
178 #ifdef RTABMAP_SYNC_MULTI_RGBD
179  void setupRGBD2Callbacks(
180  ros::NodeHandle & nh,
181  ros::NodeHandle & pnh,
182  bool subscribeOdom,
183  bool subscribeUserData,
184  bool subscribeScan2d,
185  bool subscribeScan3d,
186  bool subscribeScanDesc,
187  bool subscribeOdomInfo,
188  int queueSize,
189  bool approxSync);
190  void setupRGBD3Callbacks(
191  ros::NodeHandle & nh,
192  ros::NodeHandle & pnh,
193  bool subscribeOdom,
194  bool subscribeUserData,
195  bool subscribeScan2d,
196  bool subscribeScan3d,
197  bool subscribeScanDesc,
198  bool subscribeOdomInfo,
199  int queueSize,
200  bool approxSync);
201  void setupRGBD4Callbacks(
202  ros::NodeHandle & nh,
203  ros::NodeHandle & pnh,
204  bool subscribeOdom,
205  bool subscribeUserData,
206  bool subscribeScan2d,
207  bool subscribeScan3d,
208  bool subscribeScanDesc,
209  bool subscribeOdomInfo,
210  int queueSize,
211  bool approxSync);
212  void setupRGBD5Callbacks(
213  ros::NodeHandle & nh,
214  ros::NodeHandle & pnh,
215  bool subscribeOdom,
216  bool subscribeUserData,
217  bool subscribeScan2d,
218  bool subscribeScan3d,
219  bool subscribeScanDesc,
220  bool subscribeOdomInfo,
221  int queueSize,
222  bool approxSync);
223  void setupRGBD6Callbacks(
224  ros::NodeHandle & nh,
225  ros::NodeHandle & pnh,
226  bool subscribeOdom,
227  bool subscribeUserData,
228  bool subscribeScan2d,
229  bool subscribeScan3d,
230  bool subscribeScanDesc,
231  bool subscribeOdomInfo,
232  int queueSize,
233  bool approxSync);
234 #endif
235  void setupScanCallbacks(
236  ros::NodeHandle & nh,
237  ros::NodeHandle & pnh,
238  bool subscribeScan2d,
239  bool subscribeScanDesc,
240  bool subscribeOdom,
241  bool subscribeUserData,
242  bool subscribeOdomInfo,
243  int queueSize,
244  bool approxSync);
245  void setupOdomCallbacks(
246  ros::NodeHandle & nh,
247  ros::NodeHandle & pnh,
248  bool subscribeUserData,
249  bool subscribeOdomInfo,
250  int queueSize,
251  bool approxSync);
252 
253 protected:
254  std::string subscribedTopicsMsg_;
255  int queueSize_;
256 
257 private:
258  bool approxSync_;
259  boost::thread* warningThread_;
260  bool callbackCalled_;
261  bool subscribedToDepth_;
262  bool subscribedToStereo_;
263  bool subscribedToRGB_;
264  bool subscribedToOdom_;
265  bool subscribedToRGBD_;
266  bool subscribedToScan2d_;
267  bool subscribedToScan3d_;
268  bool subscribedToScanDescriptor_;
269  bool subscribedToOdomInfo_;
270  std::string name_;
271 
272  //for depth and rgb-only callbacks
273  image_transport::SubscriberFilter imageSub_;
274  image_transport::SubscriberFilter imageDepthSub_;
275  message_filters::Subscriber<sensor_msgs::CameraInfo> cameraInfoSub_;
276 
277  //for rgbd callback
278  ros::Subscriber rgbdSub_;
279  std::vector<message_filters::Subscriber<rtabmap_ros::RGBDImage>*> rgbdSubs_;
280  ros::Subscriber rgbdXSubOnly_;
281  message_filters::Subscriber<rtabmap_ros::RGBDImages> rgbdXSub_;
282 
283  //stereo callback
284  image_transport::SubscriberFilter imageRectLeft_;
285  image_transport::SubscriberFilter imageRectRight_;
286  message_filters::Subscriber<sensor_msgs::CameraInfo> cameraInfoLeft_;
287  message_filters::Subscriber<sensor_msgs::CameraInfo> cameraInfoRight_;
288 
289  message_filters::Subscriber<nav_msgs::Odometry> odomSub_;
290  message_filters::Subscriber<rtabmap_ros::UserData> userDataSub_;
291  message_filters::Subscriber<sensor_msgs::LaserScan> scanSub_;
292  message_filters::Subscriber<sensor_msgs::PointCloud2> scan3dSub_;
293  message_filters::Subscriber<rtabmap_ros::ScanDescriptor> scanDescSub_;
294  message_filters::Subscriber<rtabmap_ros::OdomInfo> odomInfoSub_;
295 
296  ros::Subscriber scan2dSubOnly_;
297  ros::Subscriber scan3dSubOnly_;
298  ros::Subscriber scanDescSubOnly_;
299  ros::Subscriber odomSubOnly_;
300 
301  // RGB + Depth
302  DATA_SYNCS3(depth, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo);
303  DATA_SYNCS4(depthScan2d, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::LaserScan);
304  DATA_SYNCS4(depthScan3d, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2);
305  DATA_SYNCS4(depthScanDesc, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_ros::ScanDescriptor);
306  DATA_SYNCS4(depthInfo, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_ros::OdomInfo);
307  DATA_SYNCS5(depthScan2dInfo, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
308  DATA_SYNCS5(depthScan3dInfo, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
309  DATA_SYNCS5(depthScanDescInfo, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_ros::ScanDescriptor, rtabmap_ros::OdomInfo);
310 
311  // RGB + Depth + Odom
312  DATA_SYNCS4(depthOdom, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo);
313  DATA_SYNCS5(depthOdomScan2d, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::LaserScan);
314  DATA_SYNCS5(depthOdomScan3d, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2);
315  DATA_SYNCS5(depthOdomScanDesc, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_ros::ScanDescriptor);
316  DATA_SYNCS5(depthOdomInfo, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_ros::OdomInfo);
317  DATA_SYNCS6(depthOdomScan2dInfo, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
318  DATA_SYNCS6(depthOdomScan3dInfo, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
319  DATA_SYNCS6(depthOdomScanDescInfo, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_ros::ScanDescriptor, rtabmap_ros::OdomInfo);
320 
321 #ifdef RTABMAP_SYNC_USER_DATA
322  // RGB + Depth + User Data
323  DATA_SYNCS4(depthData, rtabmap_ros::UserData, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo);
324  DATA_SYNCS5(depthDataScan2d, rtabmap_ros::UserData, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::LaserScan);
325  DATA_SYNCS5(depthDataScan3d, rtabmap_ros::UserData, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2);
326  DATA_SYNCS5(depthDataScanDesc, rtabmap_ros::UserData, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_ros::ScanDescriptor);
327  DATA_SYNCS5(depthDataInfo, rtabmap_ros::UserData, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_ros::OdomInfo);
328  DATA_SYNCS6(depthDataScan2dInfo, rtabmap_ros::UserData, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
329  DATA_SYNCS6(depthDataScan3dInfo, rtabmap_ros::UserData, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
330  DATA_SYNCS6(depthDataScanDescInfo, rtabmap_ros::UserData, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_ros::ScanDescriptor, rtabmap_ros::OdomInfo);
331 
332  // RGB + Depth + Odom + User Data
333  DATA_SYNCS5(depthOdomData, nav_msgs::Odometry, rtabmap_ros::UserData, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo);
334  DATA_SYNCS6(depthOdomDataScan2d, nav_msgs::Odometry, rtabmap_ros::UserData, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::LaserScan);
335  DATA_SYNCS6(depthOdomDataScan3d, nav_msgs::Odometry, rtabmap_ros::UserData, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2);
336  DATA_SYNCS6(depthOdomDataScanDesc, nav_msgs::Odometry, rtabmap_ros::UserData, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_ros::ScanDescriptor);
337  DATA_SYNCS6(depthOdomDataInfo, nav_msgs::Odometry, rtabmap_ros::UserData, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_ros::OdomInfo);
338  DATA_SYNCS7(depthOdomDataScan2dInfo, nav_msgs::Odometry, rtabmap_ros::UserData, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
339  DATA_SYNCS7(depthOdomDataScan3dInfo, nav_msgs::Odometry, rtabmap_ros::UserData, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
340  DATA_SYNCS7(depthOdomDataScanDescInfo, nav_msgs::Odometry, rtabmap_ros::UserData, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_ros::ScanDescriptor, rtabmap_ros::OdomInfo);
341 #endif
342 
343  // Stereo
344  DATA_SYNCS4(stereo, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo);
345  DATA_SYNCS5(stereoInfo, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo, rtabmap_ros::OdomInfo);
346 
347  // Stereo + Odom
348  DATA_SYNCS5(stereoOdom, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo);
349  DATA_SYNCS6(stereoOdomInfo, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo, rtabmap_ros::OdomInfo);
350 
351  // RGB-only
352  DATA_SYNCS2(rgb, sensor_msgs::Image, sensor_msgs::CameraInfo);
353  DATA_SYNCS3(rgbScan2d, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::LaserScan);
354  DATA_SYNCS3(rgbScan3d, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2);
355  DATA_SYNCS3(rgbScanDesc, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_ros::ScanDescriptor);
356  DATA_SYNCS3(rgbInfo, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_ros::OdomInfo);
357  DATA_SYNCS4(rgbScan2dInfo, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
358  DATA_SYNCS4(rgbScan3dInfo, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
359  DATA_SYNCS4(rgbScanDescInfo, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_ros::ScanDescriptor, rtabmap_ros::OdomInfo);
360 
361  // RGB-only + Odom
362  DATA_SYNCS3(rgbOdom, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::CameraInfo);
363  DATA_SYNCS4(rgbOdomScan2d, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::LaserScan);
364  DATA_SYNCS4(rgbOdomScan3d, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2);
365  DATA_SYNCS4(rgbOdomScanDesc, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_ros::ScanDescriptor);
366  DATA_SYNCS4(rgbOdomInfo, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_ros::OdomInfo);
367  DATA_SYNCS5(rgbOdomScan2dInfo, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
368  DATA_SYNCS5(rgbOdomScan3dInfo, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
369  DATA_SYNCS5(rgbOdomScanDescInfo, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_ros::ScanDescriptor, rtabmap_ros::OdomInfo);
370 
371 #ifdef RTABMAP_SYNC_USER_DATA
372  // RGB-only + User Data
373  DATA_SYNCS3(rgbData, rtabmap_ros::UserData, sensor_msgs::Image, sensor_msgs::CameraInfo);
374  DATA_SYNCS4(rgbDataScan2d, rtabmap_ros::UserData, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::LaserScan);
375  DATA_SYNCS4(rgbDataScan3d, rtabmap_ros::UserData, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2);
376  DATA_SYNCS4(rgbDataScanDesc, rtabmap_ros::UserData, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_ros::ScanDescriptor);
377  DATA_SYNCS4(rgbDataInfo, rtabmap_ros::UserData, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_ros::OdomInfo);
378  DATA_SYNCS5(rgbDataScan2dInfo, rtabmap_ros::UserData, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
379  DATA_SYNCS5(rgbDataScan3dInfo, rtabmap_ros::UserData, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
380  DATA_SYNCS5(rgbDataScanDescInfo, rtabmap_ros::UserData, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_ros::ScanDescriptor, rtabmap_ros::OdomInfo);
381 
382  // RGB-only + Odom + User Data
383  DATA_SYNCS4(rgbOdomData, nav_msgs::Odometry, rtabmap_ros::UserData, sensor_msgs::Image, sensor_msgs::CameraInfo);
384  DATA_SYNCS5(rgbOdomDataScan2d, nav_msgs::Odometry, rtabmap_ros::UserData, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::LaserScan);
385  DATA_SYNCS5(rgbOdomDataScan3d, nav_msgs::Odometry, rtabmap_ros::UserData, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2);
386  DATA_SYNCS5(rgbOdomDataScanDesc, nav_msgs::Odometry, rtabmap_ros::UserData, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_ros::ScanDescriptor);
387  DATA_SYNCS5(rgbOdomDataInfo, nav_msgs::Odometry, rtabmap_ros::UserData, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_ros::OdomInfo);
388  DATA_SYNCS6(rgbOdomDataScan2dInfo, nav_msgs::Odometry, rtabmap_ros::UserData, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
389  DATA_SYNCS6(rgbOdomDataScan3dInfo, nav_msgs::Odometry, rtabmap_ros::UserData, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
390  DATA_SYNCS6(rgbOdomDataScanDescInfo, nav_msgs::Odometry, rtabmap_ros::UserData, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_ros::ScanDescriptor, rtabmap_ros::OdomInfo);
391 #endif
392 
393  // 1 RGBD
394  void rgbdCallback(const rtabmap_ros::RGBDImageConstPtr&);
395  DATA_SYNCS2(rgbdScan2d, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan);
396  DATA_SYNCS2(rgbdScan3d, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2)
397  DATA_SYNCS2(rgbdScanDesc, rtabmap_ros::RGBDImage, rtabmap_ros::ScanDescriptor);
398  DATA_SYNCS2(rgbdInfo, rtabmap_ros::RGBDImage, rtabmap_ros::OdomInfo);
399 
400  // 1 RGBD + Odom
401  DATA_SYNCS2(rgbdOdom, nav_msgs::Odometry, rtabmap_ros::RGBDImage);
402  DATA_SYNCS3(rgbdOdomScan2d, nav_msgs::Odometry, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan);
403  DATA_SYNCS3(rgbdOdomScan3d, nav_msgs::Odometry, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2);
404  DATA_SYNCS3(rgbdOdomScanDesc, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::ScanDescriptor);
405  DATA_SYNCS3(rgbdOdomInfo, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::OdomInfo);
406 
407 #ifdef RTABMAP_SYNC_USER_DATA
408  // 1 RGBD + User Data
409  DATA_SYNCS2(rgbdData, rtabmap_ros::UserData, rtabmap_ros::RGBDImage);
410  DATA_SYNCS3(rgbdDataScan2d, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan);
411  DATA_SYNCS3(rgbdDataScan3d, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2);
412  DATA_SYNCS3(rgbdDataScanDesc, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::ScanDescriptor);
413  DATA_SYNCS3(rgbdDataInfo, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::OdomInfo);
414 
415  // 1 RGBD + Odom + User Data
416  DATA_SYNCS3(rgbdOdomData, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage);
417  DATA_SYNCS4(rgbdOdomDataScan2d, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan);
418  DATA_SYNCS4(rgbdOdomDataScan3d, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2);
419  DATA_SYNCS4(rgbdOdomDataScanDesc, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::ScanDescriptor);
420  DATA_SYNCS4(rgbdOdomDataInfo, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::OdomInfo);
421 #endif
422 
423  // X RGBD
424  void rgbdXCallback(const rtabmap_ros::RGBDImagesConstPtr&);
425  DATA_SYNCS2(rgbdXScan2d, rtabmap_ros::RGBDImages, sensor_msgs::LaserScan);
426  DATA_SYNCS2(rgbdXScan3d, rtabmap_ros::RGBDImages, sensor_msgs::PointCloud2)
427  DATA_SYNCS2(rgbdXScanDesc, rtabmap_ros::RGBDImages, rtabmap_ros::ScanDescriptor);
428  DATA_SYNCS2(rgbdXInfo, rtabmap_ros::RGBDImages, rtabmap_ros::OdomInfo);
429 
430  // X RGBD + Odom
431  DATA_SYNCS2(rgbdXOdom, nav_msgs::Odometry, rtabmap_ros::RGBDImages);
432  DATA_SYNCS3(rgbdXOdomScan2d, nav_msgs::Odometry, rtabmap_ros::RGBDImages, sensor_msgs::LaserScan);
433  DATA_SYNCS3(rgbdXOdomScan3d, nav_msgs::Odometry, rtabmap_ros::RGBDImages, sensor_msgs::PointCloud2);
434  DATA_SYNCS3(rgbdXOdomScanDesc, nav_msgs::Odometry, rtabmap_ros::RGBDImages, rtabmap_ros::ScanDescriptor);
435  DATA_SYNCS3(rgbdXOdomInfo, nav_msgs::Odometry, rtabmap_ros::RGBDImages, rtabmap_ros::OdomInfo);
436 
437 #ifdef RTABMAP_SYNC_USER_DATA
438  // X RGBD + User Data
439  DATA_SYNCS2(rgbdXData, rtabmap_ros::UserData, rtabmap_ros::RGBDImages);
440  DATA_SYNCS3(rgbdXDataScan2d, rtabmap_ros::UserData, rtabmap_ros::RGBDImages, sensor_msgs::LaserScan);
441  DATA_SYNCS3(rgbdXDataScan3d, rtabmap_ros::UserData, rtabmap_ros::RGBDImages, sensor_msgs::PointCloud2);
442  DATA_SYNCS3(rgbdXDataScanDesc, rtabmap_ros::UserData, rtabmap_ros::RGBDImages, rtabmap_ros::ScanDescriptor);
443  DATA_SYNCS3(rgbdXDataInfo, rtabmap_ros::UserData, rtabmap_ros::RGBDImages, rtabmap_ros::OdomInfo);
444 
445  // X RGBD + Odom + User Data
446  DATA_SYNCS3(rgbdXOdomData, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImages);
447  DATA_SYNCS4(rgbdXOdomDataScan2d, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImages, sensor_msgs::LaserScan);
448  DATA_SYNCS4(rgbdXOdomDataScan3d, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImages, sensor_msgs::PointCloud2);
449  DATA_SYNCS4(rgbdXOdomDataScanDesc, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImages, rtabmap_ros::ScanDescriptor);
450  DATA_SYNCS4(rgbdXOdomDataInfo, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImages, rtabmap_ros::OdomInfo);
451 #endif
452 
453 #ifdef RTABMAP_SYNC_MULTI_RGBD
454  // 2 RGBD
455  DATA_SYNCS2(rgbd2, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage);
456  DATA_SYNCS3(rgbd2Scan2d, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan);
457  DATA_SYNCS3(rgbd2Scan3d, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2);
458  DATA_SYNCS3(rgbd2ScanDesc, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::ScanDescriptor);
459  DATA_SYNCS3(rgbd2Info, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::OdomInfo);
460 
461  // 2 RGBD + Odom
462  DATA_SYNCS3(rgbd2Odom, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage);
463  DATA_SYNCS4(rgbd2OdomScan2d, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan);
464  DATA_SYNCS4(rgbd2OdomScan3d, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2);
465  DATA_SYNCS4(rgbd2OdomScanDesc, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::ScanDescriptor);
466  DATA_SYNCS4(rgbd2OdomInfo, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::OdomInfo);
467 
468 #ifdef RTABMAP_SYNC_USER_DATA
469  // 2 RGBD + User Data
470  DATA_SYNCS3(rgbd2Data, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage);
471  DATA_SYNCS4(rgbd2DataScan2d, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan);
472  DATA_SYNCS4(rgbd2DataScan3d, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2);
473  DATA_SYNCS4(rgbd2DataScanDesc, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::ScanDescriptor);
474  DATA_SYNCS4(rgbd2DataInfo, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::OdomInfo);
475 
476  // 2 RGBD + Odom + User Data
477  DATA_SYNCS4(rgbd2OdomData, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage);
478  DATA_SYNCS5(rgbd2OdomDataScan2d, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan);
479  DATA_SYNCS5(rgbd2OdomDataScan3d, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2);
480  DATA_SYNCS5(rgbd2OdomDataScanDesc, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::ScanDescriptor);
481  DATA_SYNCS5(rgbd2OdomDataInfo, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::OdomInfo);
482 #endif
483 
484  // 3 RGBD
485  DATA_SYNCS3(rgbd3, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage);
486  DATA_SYNCS4(rgbd3Scan2d, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan);
487  DATA_SYNCS4(rgbd3Scan3d, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2);
488  DATA_SYNCS4(rgbd3ScanDesc, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::ScanDescriptor);
489  DATA_SYNCS4(rgbd3Info, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::OdomInfo);
490 
491  // 3 RGBD + Odom
492  DATA_SYNCS4(rgbd3Odom, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage);
493  DATA_SYNCS5(rgbd3OdomScan2d, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan);
494  DATA_SYNCS5(rgbd3OdomScan3d, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2);
495  DATA_SYNCS5(rgbd3OdomScanDesc, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::ScanDescriptor);
496  DATA_SYNCS5(rgbd3OdomInfo, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::OdomInfo);
497 
498 #ifdef RTABMAP_SYNC_USER_DATA
499  // 3 RGBD + User Data
500  DATA_SYNCS4(rgbd3Data, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage);
501  DATA_SYNCS5(rgbd3DataScan2d, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan);
502  DATA_SYNCS5(rgbd3DataScan3d, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2);
503  DATA_SYNCS5(rgbd3DataScanDesc, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::ScanDescriptor);
504  DATA_SYNCS5(rgbd3DataInfo, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::OdomInfo);
505 
506  // 3 RGBD + Odom + User Data
507  DATA_SYNCS5(rgbd3OdomData, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage);
508  DATA_SYNCS6(rgbd3OdomDataScan2d, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan);
509  DATA_SYNCS6(rgbd3OdomDataScan3d, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2);
510  DATA_SYNCS6(rgbd3OdomDataScanDesc, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::ScanDescriptor);
511  DATA_SYNCS6(rgbd3OdomDataInfo, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::OdomInfo);
512 #endif
513 
514  // 4 RGBD
515  DATA_SYNCS4(rgbd4, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage);
516  DATA_SYNCS5(rgbd4Scan2d, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan);
517  DATA_SYNCS5(rgbd4Scan3d, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2);
518  DATA_SYNCS5(rgbd4ScanDesc, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::ScanDescriptor);
519  DATA_SYNCS5(rgbd4Info, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::OdomInfo);
520 
521  // 4 RGBD + Odom
522  DATA_SYNCS5(rgbd4Odom, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage);
523  DATA_SYNCS6(rgbd4OdomScan2d, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan);
524  DATA_SYNCS6(rgbd4OdomScan3d, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2);
525  DATA_SYNCS6(rgbd4OdomScanDesc, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::ScanDescriptor);
526  DATA_SYNCS6(rgbd4OdomInfo, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::OdomInfo);
527 
528 #ifdef RTABMAP_SYNC_USER_DATA
529  // 4 RGBD + User Data
530  DATA_SYNCS5(rgbd4Data, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage);
531  DATA_SYNCS6(rgbd4DataScan2d, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan);
532  DATA_SYNCS6(rgbd4DataScan3d, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2);
533  DATA_SYNCS6(rgbd4DataScanDesc, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::ScanDescriptor);
534  DATA_SYNCS6(rgbd4DataInfo, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::OdomInfo);
535 
536  // 4 RGBD + Odom + User Data
537  DATA_SYNCS6(rgbd4OdomData, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage);
538  DATA_SYNCS7(rgbd4OdomDataScan2d, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan);
539  DATA_SYNCS7(rgbd4OdomDataScan3d, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2);
540  DATA_SYNCS7(rgbd4OdomDataScanDesc, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::ScanDescriptor);
541  DATA_SYNCS7(rgbd4OdomDataInfo, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::OdomInfo);
542 #endif
543 
544  // 5 RGBD
545  DATA_SYNCS5(rgbd5, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage);
546  DATA_SYNCS6(rgbd5Scan2d, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan);
547  DATA_SYNCS6(rgbd5Scan3d, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2);
548  DATA_SYNCS6(rgbd5ScanDesc, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::ScanDescriptor);
549  DATA_SYNCS6(rgbd5Info, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::OdomInfo);
550 
551  // 5 RGBD + Odom
552  DATA_SYNCS6(rgbd5Odom, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage);
553  DATA_SYNCS7(rgbd5OdomScan2d, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan);
554  DATA_SYNCS7(rgbd5OdomScan3d, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2);
555  DATA_SYNCS7(rgbd5OdomScanDesc, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::ScanDescriptor);
556  DATA_SYNCS7(rgbd5OdomInfo, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::OdomInfo);
557 
558  // 6 RGBD
559  DATA_SYNCS6(rgbd6, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage);
560  DATA_SYNCS7(rgbd6Scan2d, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan);
561  DATA_SYNCS7(rgbd6Scan3d, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2);
562  DATA_SYNCS7(rgbd6ScanDesc, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::ScanDescriptor);
563  DATA_SYNCS7(rgbd6Info, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::OdomInfo);
564 
565  // 6 RGBD + Odom
566  DATA_SYNCS7(rgbd6Odom, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage);
567  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);
568  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);
569  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);
570  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);
571 
572 #endif //RTABMAP_SYNC_MULTI_RGBD
573 
574  // Scan
575  void scan2dCallback(const sensor_msgs::LaserScanConstPtr&);
576  void scan3dCallback(const sensor_msgs::PointCloud2ConstPtr&);
577  void scanDescCallback(const rtabmap_ros::ScanDescriptorConstPtr&);
578  DATA_SYNCS2(scan2dInfo, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
579  DATA_SYNCS2(scan3dInfo, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
580  DATA_SYNCS2(scanDescInfo, rtabmap_ros::ScanDescriptor, rtabmap_ros::OdomInfo);
581 
582  // Scan + Odom
583  DATA_SYNCS2(odomScan2d, nav_msgs::Odometry, sensor_msgs::LaserScan);
584  DATA_SYNCS2(odomScan3d, nav_msgs::Odometry, sensor_msgs::PointCloud2);
585  DATA_SYNCS2(odomScanDesc, nav_msgs::Odometry, rtabmap_ros::ScanDescriptor);
586  DATA_SYNCS3(odomScan2dInfo, nav_msgs::Odometry, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
587  DATA_SYNCS3(odomScan3dInfo, nav_msgs::Odometry, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
588  DATA_SYNCS3(odomScanDescInfo, nav_msgs::Odometry, rtabmap_ros::ScanDescriptor, rtabmap_ros::OdomInfo);
589 
590 #ifdef RTABMAP_SYNC_USER_DATA
591  // Scan + User Data
592  DATA_SYNCS2(dataScan2d, rtabmap_ros::UserData, sensor_msgs::LaserScan);
593  DATA_SYNCS2(dataScan3d, rtabmap_ros::UserData, sensor_msgs::PointCloud2);
594  DATA_SYNCS2(dataScanDesc, rtabmap_ros::UserData, rtabmap_ros::ScanDescriptor);
595  DATA_SYNCS3(dataScan2dInfo, rtabmap_ros::UserData, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
596  DATA_SYNCS3(dataScan3dInfo, rtabmap_ros::UserData, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
597  DATA_SYNCS3(dataScanDescInfo, rtabmap_ros::UserData, rtabmap_ros::ScanDescriptor, rtabmap_ros::OdomInfo);
598 
599  // Scan + Odom + User Data
600  DATA_SYNCS3(odomDataScan2d, nav_msgs::Odometry, rtabmap_ros::UserData, sensor_msgs::LaserScan);
601  DATA_SYNCS3(odomDataScan3d, nav_msgs::Odometry, rtabmap_ros::UserData, sensor_msgs::PointCloud2);
602  DATA_SYNCS3(odomDataScanDesc, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::ScanDescriptor);
603  DATA_SYNCS4(odomDataScan2dInfo, nav_msgs::Odometry, rtabmap_ros::UserData, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
604  DATA_SYNCS4(odomDataScan3dInfo, nav_msgs::Odometry, rtabmap_ros::UserData, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
605  DATA_SYNCS4(odomDataScanDescInfo, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::ScanDescriptor, rtabmap_ros::OdomInfo);
606 #endif
607 
608  // Odom
609  void odomCallback(const nav_msgs::OdometryConstPtr&);
610  DATA_SYNCS2(odomInfo, nav_msgs::Odometry, rtabmap_ros::OdomInfo);
611 
612 #ifdef RTABMAP_SYNC_USER_DATA
613  // Odom + User Data
614  DATA_SYNCS2(odomData, nav_msgs::Odometry, rtabmap_ros::UserData);
615  DATA_SYNCS3(odomDataInfo, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::OdomInfo);
616 #endif
617 };
618 
619 } /* namespace rtabmap_ros */
620 
621 #endif /* INCLUDE_RTABMAP_ROS_COMMONDATASUBSCRIBER_H_ */
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Definition: CommonDataSubscriber.cpp:1014

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