rtabmap_ros: CommonDataSubscriber.h Source File

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00001 /*
00002 Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
00003 All rights reserved.
00004 
00005 Redistribution and use in source and binary forms, with or without
00006 modification, are permitted provided that the following conditions are met:
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00008       notice, this list of conditions and the following disclaimer.
00009     * Redistributions in binary form must reproduce the above copyright
00010       notice, this list of conditions and the following disclaimer in the
00011       documentation and/or other materials provided with the distribution.
00012     * Neither the name of the Universite de Sherbrooke nor the
00013       names of its contributors may be used to endorse or promote products
00014       derived from this software without specific prior written permission.
00015 
00016 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
00017 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
00018 WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00019 DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
00020 DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
00021 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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00025 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00026 */
00027 
00028 #ifndef INCLUDE_RTABMAP_ROS_COMMONDATASUBSCRIBER_H_
00029 #define INCLUDE_RTABMAP_ROS_COMMONDATASUBSCRIBER_H_
00030 
00031 #include <message_filters/subscriber.h>
00032 #include <message_filters/synchronizer.h>
00033 #include <message_filters/sync_policies/approximate_time.h>
00034 #include <message_filters/sync_policies/exact_time.h>
00035 
00036 #include <image_transport/image_transport.h>
00037 #include <image_transport/subscriber_filter.h>
00038 
00039 #include <cv_bridge/cv_bridge.h>
00040 
00041 #include <sensor_msgs/PointCloud2.h>
00042 #include <sensor_msgs/Image.h>
00043 #include <sensor_msgs/CameraInfo.h>
00044 #include <sensor_msgs/LaserScan.h>
00045 
00046 #include <nav_msgs/Odometry.h>
00047 
00048 #include <rtabmap_ros/RGBDImage.h>
00049 #include <rtabmap_ros/UserData.h>
00050 #include <rtabmap_ros/OdomInfo.h>
00051 #include <rtabmap_ros/CommonDataSubscriberDefines.h>
00052 
00053 #include <boost/thread.hpp>
00054 
00055 namespace rtabmap_ros {
00056 
00057 class CommonDataSubscriber {
00058 public:
00059         CommonDataSubscriber(bool gui);
00060         virtual ~CommonDataSubscriber();
00061 
00062         bool isSubscribedToDepth() const  {return subscribedToDepth_;}
00063         bool isSubscribedToStereo() const {return subscribedToStereo_;}
00064         bool isSubscribedToRGBD() const   {return subscribedToRGBD_;}
00065         bool isSubscribedToScan2d() const {return subscribedToScan2d_;}
00066         bool isSubscribedToScan3d() const {return subscribedToScan3d_;}
00067         bool isSubscribedToOdomInfo() const {return subscribedToOdomInfo_;}
00068         bool isDataSubscribed() const {return isSubscribedToDepth() || isSubscribedToStereo() || isSubscribedToRGBD();}
00069         int rgbdCameras() const {return isSubscribedToRGBD()?(int)rgbdSubs_.size():0;}
00070         int getQueueSize() const {return queueSize_;}
00071         bool isApproxSync() const {return approxSync_;}
00072 
00073 protected:
00074         void setupCallbacks(ros::NodeHandle & nh, ros::NodeHandle & pnh, const std::string & name);
00075         virtual void commonDepthCallback(
00076                                 const nav_msgs::OdometryConstPtr & odomMsg,
00077                                 const rtabmap_ros::UserDataConstPtr & userDataMsg,
00078                                 const std::vector<cv_bridge::CvImageConstPtr> & imageMsgs,
00079                                 const std::vector<cv_bridge::CvImageConstPtr> & depthMsgs,
00080                                 const std::vector<sensor_msgs::CameraInfo> & cameraInfoMsgs,
00081                                 const sensor_msgs::LaserScanConstPtr& scanMsg,
00082                                 const sensor_msgs::PointCloud2ConstPtr& scan3dMsg,
00083                                 const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg) = 0;
00084         virtual void commonStereoCallback(
00085                                 const nav_msgs::OdometryConstPtr & odomMsg,
00086                                 const rtabmap_ros::UserDataConstPtr & userDataMsg,
00087                                 const cv_bridge::CvImageConstPtr& leftImageMsg,
00088                                 const cv_bridge::CvImageConstPtr& rightImageMsg,
00089                                 const sensor_msgs::CameraInfo& leftCamInfoMsg,
00090                                 const sensor_msgs::CameraInfo& rightCamInfoMsg,
00091                                 const sensor_msgs::LaserScanConstPtr& scanMsg,
00092                                 const sensor_msgs::PointCloud2ConstPtr& scan3dMsg,
00093                                 const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg) = 0;
00094 
00095         void commonSingleDepthCallback(
00096                                 const nav_msgs::OdometryConstPtr & odomMsg,
00097                                 const rtabmap_ros::UserDataConstPtr & userDataMsg,
00098                                 const cv_bridge::CvImageConstPtr & imageMsg,
00099                                 const cv_bridge::CvImageConstPtr & depthMsg,
00100                                 const sensor_msgs::CameraInfo & rgbCameraInfoMsg,
00101                                 const sensor_msgs::CameraInfo & depthCameraInfoMsg,
00102                                 const sensor_msgs::LaserScanConstPtr& scanMsg,
00103                                 const sensor_msgs::PointCloud2ConstPtr& scan3dMsg,
00104                                 const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg);
00105 
00106 private:
00107         void warningLoop();
00108         void callbackCalled() {callbackCalled_ = true;}
00109         void setupDepthCallbacks(
00110                         ros::NodeHandle & nh,
00111                         ros::NodeHandle & pnh,
00112                         bool subscribeOdom,
00113                         bool subscribeUserData,
00114                         bool subscribeScan2d,
00115                         bool subscribeScan3d,
00116                         bool subscribeOdomInfo,
00117                         int queueSize,
00118                         bool approxSync);
00119         void setupStereoCallbacks(
00120                         ros::NodeHandle & nh,
00121                         ros::NodeHandle & pnh,
00122                         bool subscribeOdom,
00123                         bool subscribeOdomInfo,
00124                         int queueSize,
00125                         bool approxSync);
00126         void setupRGBDCallbacks(
00127                         ros::NodeHandle & nh,
00128                         ros::NodeHandle & pnh,
00129                         bool subscribeOdom,
00130                         bool subscribeUserData,
00131                         bool subscribeScan2d,
00132                         bool subscribeScan3d,
00133                         bool subscribeOdomInfo,
00134                         int queueSize,
00135                         bool approxSync);
00136         void setupRGBD2Callbacks(
00137                         ros::NodeHandle & nh,
00138                         ros::NodeHandle & pnh,
00139                         bool subscribeOdom,
00140                         bool subscribeUserData,
00141                         bool subscribeScan2d,
00142                         bool subscribeScan3d,
00143                         bool subscribeOdomInfo,
00144                         int queueSize,
00145                         bool approxSync);
00146         void setupRGBD3Callbacks(
00147                         ros::NodeHandle & nh,
00148                         ros::NodeHandle & pnh,
00149                         bool subscribeOdom,
00150                         bool subscribeUserData,
00151                         bool subscribeScan2d,
00152                         bool subscribeScan3d,
00153                         bool subscribeOdomInfo,
00154                         int queueSize,
00155                         bool approxSync);
00156         void setupRGBD4Callbacks(
00157                         ros::NodeHandle & nh,
00158                         ros::NodeHandle & pnh,
00159                         bool subscribeOdom,
00160                         bool subscribeUserData,
00161                         bool subscribeScan2d,
00162                         bool subscribeScan3d,
00163                         bool subscribeOdomInfo,
00164                         int queueSize,
00165                         bool approxSync);
00166 
00167 protected:
00168         std::string subscribedTopicsMsg_;
00169         int queueSize_;
00170 
00171 private:
00172         bool approxSync_;
00173         boost::thread* warningThread_;
00174         bool callbackCalled_;
00175         bool subscribedToDepth_;
00176         bool subscribedToStereo_;
00177         bool subscribedToRGBD_;
00178         bool subscribedToScan2d_;
00179         bool subscribedToScan3d_;
00180         bool subscribedToOdomInfo_;
00181         std::string name_;
00182 
00183         //for depth callback
00184         image_transport::SubscriberFilter imageSub_;
00185         image_transport::SubscriberFilter imageDepthSub_;
00186         message_filters::Subscriber<sensor_msgs::CameraInfo> cameraInfoSub_;
00187 
00188         //for rgbd callback
00189         ros::Subscriber rgbdSub_;
00190         std::vector<message_filters::Subscriber<rtabmap_ros::RGBDImage>*> rgbdSubs_;
00191 
00192         //stereo callback
00193         image_transport::SubscriberFilter imageRectLeft_;
00194         image_transport::SubscriberFilter imageRectRight_;
00195         message_filters::Subscriber<sensor_msgs::CameraInfo> cameraInfoLeft_;
00196         message_filters::Subscriber<sensor_msgs::CameraInfo> cameraInfoRight_;
00197 
00198         message_filters::Subscriber<nav_msgs::Odometry> odomSub_;
00199         message_filters::Subscriber<rtabmap_ros::UserData> userDataSub_;
00200         message_filters::Subscriber<sensor_msgs::LaserScan> scanSub_;
00201         message_filters::Subscriber<sensor_msgs::PointCloud2> scan3dSub_;
00202         message_filters::Subscriber<rtabmap_ros::OdomInfo> odomInfoSub_;
00203 
00204         // RGB + Depth
00205         DATA_SYNCS3(depth, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo);
00206         DATA_SYNCS4(depthScan2d, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::LaserScan);
00207         DATA_SYNCS4(depthScan3d, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2);
00208         DATA_SYNCS4(depthInfo, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_ros::OdomInfo);
00209         DATA_SYNCS5(depthScan2dInfo, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
00210         DATA_SYNCS5(depthScan3dInfo, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
00211 
00212         // RGB + Depth + Odom
00213         DATA_SYNCS4(depthOdom, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo);
00214         DATA_SYNCS5(depthOdomScan2d, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::LaserScan);
00215         DATA_SYNCS5(depthOdomScan3d, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2);
00216         DATA_SYNCS5(depthOdomInfo, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_ros::OdomInfo);
00217         DATA_SYNCS6(depthOdomScan2dInfo, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
00218         DATA_SYNCS6(depthOdomScan3dInfo, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
00219 
00220         // RGB + Depth + User Data
00221         DATA_SYNCS4(depthData, rtabmap_ros::UserData, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo);
00222         DATA_SYNCS5(depthDataScan2d, rtabmap_ros::UserData, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::LaserScan);
00223         DATA_SYNCS5(depthDataScan3d, rtabmap_ros::UserData, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2);
00224         DATA_SYNCS5(depthDataInfo, rtabmap_ros::UserData, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_ros::OdomInfo);
00225         DATA_SYNCS6(depthDataScan2dInfo, rtabmap_ros::UserData, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
00226         DATA_SYNCS6(depthDataScan3dInfo, rtabmap_ros::UserData, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
00227 
00228         // RGB + Depth + Odom + User Data
00229         DATA_SYNCS5(depthOdomData, nav_msgs::Odometry, rtabmap_ros::UserData, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo);
00230         DATA_SYNCS6(depthOdomDataScan2d, nav_msgs::Odometry, rtabmap_ros::UserData, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::LaserScan);
00231         DATA_SYNCS6(depthOdomDataScan3d, nav_msgs::Odometry, rtabmap_ros::UserData, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2);
00232         DATA_SYNCS6(depthOdomDataInfo, nav_msgs::Odometry, rtabmap_ros::UserData, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_ros::OdomInfo);
00233         DATA_SYNCS7(depthOdomDataScan2dInfo, nav_msgs::Odometry, rtabmap_ros::UserData, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
00234         DATA_SYNCS7(depthOdomDataScan3dInfo, nav_msgs::Odometry, rtabmap_ros::UserData, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
00235 
00236         // Stereo
00237         DATA_SYNCS4(stereo, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo);
00238         DATA_SYNCS5(stereoInfo, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo, rtabmap_ros::OdomInfo);
00239 
00240         // Stereo + Odom
00241         DATA_SYNCS5(stereoOdom, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo);
00242         DATA_SYNCS6(stereoOdomInfo, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo, rtabmap_ros::OdomInfo);
00243 
00244         // 1 RGBD
00245         void rgbdCallback(const rtabmap_ros::RGBDImageConstPtr&);
00246         DATA_SYNCS2(rgbdScan2d, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan);
00247         DATA_SYNCS2(rgbdScan3d, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2);
00248         DATA_SYNCS2(rgbdInfo, rtabmap_ros::RGBDImage, rtabmap_ros::OdomInfo);
00249         DATA_SYNCS3(rgbdScan2dInfo, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
00250         DATA_SYNCS3(rgbdScan3dInfo, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
00251 
00252         // 1 RGBD + Odom
00253         DATA_SYNCS2(rgbdOdom, nav_msgs::Odometry, rtabmap_ros::RGBDImage);
00254         DATA_SYNCS3(rgbdOdomScan2d, nav_msgs::Odometry, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan);
00255         DATA_SYNCS3(rgbdOdomScan3d, nav_msgs::Odometry, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2);
00256         DATA_SYNCS3(rgbdOdomInfo, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::OdomInfo);
00257         DATA_SYNCS4(rgbdOdomScan2dInfo, nav_msgs::Odometry, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
00258         DATA_SYNCS4(rgbdOdomScan3dInfo, nav_msgs::Odometry, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
00259 
00260         // 1 RGBD + User Data
00261         DATA_SYNCS2(rgbdData, rtabmap_ros::UserData, rtabmap_ros::RGBDImage);
00262         DATA_SYNCS3(rgbdDataScan2d, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan);
00263         DATA_SYNCS3(rgbdDataScan3d, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2);
00264         DATA_SYNCS3(rgbdDataInfo, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::OdomInfo);
00265         DATA_SYNCS4(rgbdDataScan2dInfo, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
00266         DATA_SYNCS4(rgbdDataScan3dInfo, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
00267 
00268         // 1 RGBD + Odom + User Data
00269         DATA_SYNCS3(rgbdOdomData, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage);
00270         DATA_SYNCS4(rgbdOdomDataScan2d, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan);
00271         DATA_SYNCS4(rgbdOdomDataScan3d, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2);
00272         DATA_SYNCS4(rgbdOdomDataInfo, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::OdomInfo);
00273         DATA_SYNCS5(rgbdOdomDataScan2dInfo, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
00274         DATA_SYNCS5(rgbdOdomDataScan3dInfo, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
00275 
00276         // 2 RGBD
00277         DATA_SYNCS2(rgbd2, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage);
00278         DATA_SYNCS3(rgbd2Scan2d, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan);
00279         DATA_SYNCS3(rgbd2Scan3d, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2);
00280         DATA_SYNCS3(rgbd2Info, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::OdomInfo);
00281         DATA_SYNCS4(rgbd2Scan2dInfo, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
00282         DATA_SYNCS4(rgbd2Scan3dInfo, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
00283 
00284         // 2 RGBD + Odom
00285         DATA_SYNCS3(rgbd2Odom, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage);
00286         DATA_SYNCS4(rgbd2OdomScan2d, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan);
00287         DATA_SYNCS4(rgbd2OdomScan3d, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2);
00288         DATA_SYNCS4(rgbd2OdomInfo, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::OdomInfo);
00289         DATA_SYNCS5(rgbd2OdomScan2dInfo, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
00290         DATA_SYNCS5(rgbd2OdomScan3dInfo, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
00291 
00292         // 2 RGBD + User Data
00293         DATA_SYNCS3(rgbd2Data, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage);
00294         DATA_SYNCS4(rgbd2DataScan2d, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan);
00295         DATA_SYNCS4(rgbd2DataScan3d, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2);
00296         DATA_SYNCS4(rgbd2DataInfo, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::OdomInfo);
00297         DATA_SYNCS5(rgbd2DataScan2dInfo, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
00298         DATA_SYNCS5(rgbd2DataScan3dInfo, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
00299 
00300         // 2 RGBD + Odom + User Data
00301         DATA_SYNCS4(rgbd2OdomData, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage);
00302         DATA_SYNCS5(rgbd2OdomDataScan2d, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan);
00303         DATA_SYNCS5(rgbd2OdomDataScan3d, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2);
00304         DATA_SYNCS5(rgbd2OdomDataInfo, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::OdomInfo);
00305         DATA_SYNCS6(rgbd2OdomDataScan2dInfo, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
00306         DATA_SYNCS6(rgbd2OdomDataScan3dInfo, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
00307 
00308         // 3 RGBD
00309         DATA_SYNCS3(rgbd3, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage);
00310         DATA_SYNCS4(rgbd3Scan2d, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan);
00311         DATA_SYNCS4(rgbd3Scan3d, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2);
00312         DATA_SYNCS4(rgbd3Info, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::OdomInfo);
00313         DATA_SYNCS5(rgbd3Scan2dInfo, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
00314         DATA_SYNCS5(rgbd3Scan3dInfo, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
00315 
00316         // 3 RGBD + Odom
00317         DATA_SYNCS4(rgbd3Odom, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage);
00318         DATA_SYNCS5(rgbd3OdomScan2d, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan);
00319         DATA_SYNCS5(rgbd3OdomScan3d, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2);
00320         DATA_SYNCS5(rgbd3OdomInfo, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::OdomInfo);
00321         DATA_SYNCS6(rgbd3OdomScan2dInfo, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
00322         DATA_SYNCS6(rgbd3OdomScan3dInfo, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
00323 
00324         // 3 RGBD + User Data
00325         DATA_SYNCS4(rgbd3Data, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage);
00326         DATA_SYNCS5(rgbd3DataScan2d, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan);
00327         DATA_SYNCS5(rgbd3DataScan3d, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2);
00328         DATA_SYNCS5(rgbd3DataInfo, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::OdomInfo);
00329         DATA_SYNCS6(rgbd3DataScan2dInfo, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
00330         DATA_SYNCS6(rgbd3DataScan3dInfo, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
00331 
00332         // 3 RGBD + Odom + User Data
00333         DATA_SYNCS5(rgbd3OdomData, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage);
00334         DATA_SYNCS6(rgbd3OdomDataScan2d, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan);
00335         DATA_SYNCS6(rgbd3OdomDataScan3d, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2);
00336         DATA_SYNCS6(rgbd3OdomDataInfo, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::OdomInfo);
00337         DATA_SYNCS7(rgbd3OdomDataScan2dInfo, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
00338         DATA_SYNCS7(rgbd3OdomDataScan3dInfo, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
00339 
00340         // 4 RGBD
00341         DATA_SYNCS4(rgbd4, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage);
00342         DATA_SYNCS5(rgbd4Scan2d, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan);
00343         DATA_SYNCS5(rgbd4Scan3d, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2);
00344         DATA_SYNCS5(rgbd4Info, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::OdomInfo);
00345         DATA_SYNCS6(rgbd4Scan2dInfo, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
00346         DATA_SYNCS6(rgbd4Scan3dInfo, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
00347 
00348         // 4 RGBD + Odom
00349         DATA_SYNCS5(rgbd4Odom, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage);
00350         DATA_SYNCS6(rgbd4OdomScan2d, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan);
00351         DATA_SYNCS6(rgbd4OdomScan3d, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2);
00352         DATA_SYNCS6(rgbd4OdomInfo, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::OdomInfo);
00353         DATA_SYNCS7(rgbd4OdomScan2dInfo, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
00354         DATA_SYNCS7(rgbd4OdomScan3dInfo, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
00355 
00356         // 4 RGBD + User Data
00357         DATA_SYNCS5(rgbd4Data, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage);
00358         DATA_SYNCS6(rgbd4DataScan2d, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan);
00359         DATA_SYNCS6(rgbd4DataScan3d, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2);
00360         DATA_SYNCS6(rgbd4DataInfo, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::OdomInfo);
00361         DATA_SYNCS7(rgbd4DataScan2dInfo, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
00362         DATA_SYNCS7(rgbd4DataScan3dInfo, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
00363 
00364         // 4 RGBD + Odom + User Data
00365         DATA_SYNCS6(rgbd4OdomData, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage);
00366         DATA_SYNCS7(rgbd4OdomDataScan2d, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan);
00367         DATA_SYNCS7(rgbd4OdomDataScan3d, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2);
00368         DATA_SYNCS7(rgbd4OdomDataInfo, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::OdomInfo);
00369         DATA_SYNCS8(rgbd4OdomDataScan2dInfo, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
00370         DATA_SYNCS8(rgbd4OdomDataScan3dInfo, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
00371 
00372 };
00373 
00374 } /* namespace rtabmap_ros */
00375 
00376 #endif /* INCLUDE_RTABMAP_ROS_COMMONDATASUBSCRIBER_H_ */