Class CommonDataSubscriber

• Defined in File CommonDataSubscriber.h

Class Documentation

class CommonDataSubscriber

Public Functions

RTABMAP_SYNC_PUBLIC CommonDataSubscriber(rclcpp::Node &node, bool gui)

virtual ~CommonDataSubscriber()

inline bool isSubscribedToDepth() const

inline bool isSubscribedToStereo() const

inline bool isSubscribedToRGB() const

inline bool isSubscribedToOdom() const

inline bool isSubscribedToRGBD() const

inline bool isSubscribedToScan2d() const

inline bool isSubscribedToScan3d() const

inline bool isSubscribedToSensorData() const

inline bool isSubscribedToOdomInfo() const

inline bool isDataSubscribed() const

inline int rgbdCameras() const

inline int getTopicQueueSize() const

inline int getSyncQueueSize() const

inline bool isApproxSync() const

inline const std::string &name() const

Protected Functions

void setupCallbacks(rclcpp::Node &node, std::vector<diagnostic_updater::DiagnosticTask*> otherTasks = std::vector<diagnostic_updater::DiagnosticTask*>())

virtual void commonMultiCameraCallback(const nav_msgs::msg::Odometry::ConstSharedPtr &odomMsg, const rtabmap_msgs::msg::UserData::ConstSharedPtr &userDataMsg, const std::vector<cv_bridge::CvImageConstPtr> &imageMsgs, const std::vector<cv_bridge::CvImageConstPtr> &depthMsgs, const std::vector<sensor_msgs::msg::CameraInfo> &cameraInfoMsgs, const std::vector<sensor_msgs::msg::CameraInfo> &depthCameraInfoMsgs, const sensor_msgs::msg::LaserScan &scanMsg, const sensor_msgs::msg::PointCloud2 &scan3dMsg, const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr &odomInfoMsg, const std::vector<rtabmap_msgs::msg::GlobalDescriptor> &globalDescriptorMsgs = std::vector<rtabmap_msgs::msg::GlobalDescriptor>(), const std::vector<std::vector<rtabmap_msgs::msg::KeyPoint>> &localKeyPoints = std::vector<std::vector<rtabmap_msgs::msg::KeyPoint>>(), const std::vector<std::vector<rtabmap_msgs::msg::Point3f>> &localPoints3d = std::vector<std::vector<rtabmap_msgs::msg::Point3f>>(), const std::vector<cv::Mat> &localDescriptors = std::vector<cv::Mat>()) = 0

virtual void commonLaserScanCallback(const nav_msgs::msg::Odometry::ConstSharedPtr &odomMsg, const rtabmap_msgs::msg::UserData::ConstSharedPtr &userDataMsg, const sensor_msgs::msg::LaserScan &scanMsg, const sensor_msgs::msg::PointCloud2 &scan3dMsg, const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr &odomInfoMsg, const rtabmap_msgs::msg::GlobalDescriptor &globalDescriptor = rtabmap_msgs::msg::GlobalDescriptor()) = 0

virtual void commonOdomCallback(const nav_msgs::msg::Odometry::ConstSharedPtr &odomMsg, const rtabmap_msgs::msg::UserData::ConstSharedPtr &userDataMsg, const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr &odomInfoMsg) = 0

virtual void commonSensorDataCallback(const rtabmap_msgs::msg::SensorData::ConstSharedPtr &sensorDataMsg, const nav_msgs::msg::Odometry::ConstSharedPtr &odomMsg, const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr &odomInfoMsg) = 0

void commonSingleCameraCallback(const nav_msgs::msg::Odometry::ConstSharedPtr &odomMsg, const rtabmap_msgs::msg::UserData::ConstSharedPtr &userDataMsg, const cv_bridge::CvImageConstPtr &imageMsg, const cv_bridge::CvImageConstPtr &depthMsg, const sensor_msgs::msg::CameraInfo &rgbCameraInfoMsg, const sensor_msgs::msg::CameraInfo &depthCameraInfoMsg, const sensor_msgs::msg::LaserScan &scanMsg, const sensor_msgs::msg::PointCloud2 &scan3dMsg, const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr &odomInfoMsg, const std::vector<rtabmap_msgs::msg::GlobalDescriptor> &globalDescriptorMsgs = std::vector<rtabmap_msgs::msg::GlobalDescriptor>(), const std::vector<rtabmap_msgs::msg::KeyPoint> &localKeyPoints = std::vector<rtabmap_msgs::msg::KeyPoint>(), const std::vector<rtabmap_msgs::msg::Point3f> &localPoints3d = std::vector<rtabmap_msgs::msg::Point3f>(), const cv::Mat &localDescriptors = cv::Mat())

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

Protected Attributes

std::string subscribedTopicsMsg_

int topicQueueSize_

int syncQueueSize_

rmw_qos_reliability_policy_t qosOdom_

rmw_qos_reliability_policy_t qosImage_

rmw_qos_reliability_policy_t qosCameraInfo_

rmw_qos_reliability_policy_t qosScan_

rmw_qos_reliability_policy_t qosUserData_

rmw_qos_reliability_policy_t qosSensorData_