.. _program_listing_file__tmp_ws_src_rtabmap_ros_rtabmap_sync_include_rtabmap_sync_CommonDataSubscriber.h:

Program Listing for File CommonDataSubscriber.h
===============================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_rtabmap_ros_rtabmap_sync_include_rtabmap_sync_CommonDataSubscriber.h>` (``/tmp/ws/src/rtabmap_ros/rtabmap_sync/include/rtabmap_sync/CommonDataSubscriber.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
   Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
   All rights reserved.
   
   Redistribution and use in source and binary forms, with or without
   modification, are permitted provided that the following conditions are met:
       * Redistributions of source code must retain the above copyright
         notice, this list of conditions and the following disclaimer.
       * Redistributions in binary form must reproduce the above copyright
         notice, this list of conditions and the following disclaimer in the
         documentation and/or other materials provided with the distribution.
       * Neither the name of the Universite de Sherbrooke nor the
         names of its contributors may be used to endorse or promote products
         derived from this software without specific prior written permission.
   
   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
   ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
   WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
   DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
   (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
   LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
   ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
   (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
   SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
   */
   
   #ifndef INCLUDE_RTABMAP_ROS_COMMONDATASUBSCRIBER_H_
   #define INCLUDE_RTABMAP_ROS_COMMONDATASUBSCRIBER_H_
   
   #include <rtabmap_sync/visibility.h>
   #include <message_filters/subscriber.h>
   #include <message_filters/synchronizer.h>
   #include <message_filters/sync_policies/approximate_time.h>
   #include <message_filters/sync_policies/exact_time.h>
   
   #include <image_transport/image_transport.hpp>
   #include <image_transport/subscriber_filter.hpp>
   
   #include <cv_bridge/cv_bridge.h>
   
   #include <sensor_msgs/msg/point_cloud2.hpp>
   #include <sensor_msgs/msg/image.hpp>
   #include <sensor_msgs/msg/camera_info.hpp>
   #include <sensor_msgs/msg/laser_scan.hpp>
   
   #include <nav_msgs/msg/odometry.hpp>
   
   #include <rtabmap_msgs/msg/rgbd_image.hpp>
   #include <rtabmap_msgs/msg/rgbd_images.hpp>
   #include <rtabmap_msgs/msg/user_data.hpp>
   #include <rtabmap_msgs/msg/odom_info.hpp>
   #include <rtabmap_msgs/msg/scan_descriptor.hpp>
   #include <rtabmap_sync/CommonDataSubscriberDefines.h>
   
   namespace rtabmap_sync {
   
   class CommonDataSubscriber {
   public:
       RTABMAP_SYNC_PUBLIC
       CommonDataSubscriber(rclcpp::Node & node, bool gui);
       virtual ~CommonDataSubscriber();
   
       bool isSubscribedToDepth() const  {return subscribedToDepth_;}
       bool isSubscribedToStereo() const {return subscribedToStereo_;}
       bool isSubscribedToRGB() const  {return subscribedToRGB_;}
       bool isSubscribedToOdom() const  {return subscribedToOdom_;}
       bool isSubscribedToRGBD() const   {return subscribedToRGBD_;}
       bool isSubscribedToScan2d() const {return subscribedToScan2d_;}
       bool isSubscribedToScan3d() const {return subscribedToScan3d_;}
       bool isSubscribedToOdomInfo() const {return subscribedToOdomInfo_;}
       bool isDataSubscribed() const {return isSubscribedToDepth() || isSubscribedToStereo() || isSubscribedToRGBD() || isSubscribedToScan2d() || isSubscribedToScan3d() || isSubscribedToRGB() || isSubscribedToOdom();}
       int rgbdCameras() const {return isSubscribedToRGBD()?(int)rgbdSubs_.size():0;}
       int getQueueSize() const {return queueSize_;}
       bool isApproxSync() const {return approxSync_;}
       const std::string & name() const {return name_;}
   
   protected:
       void setupCallbacks(rclcpp::Node & node);
       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;
   
       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());
   
   private:
       void callbackCalled() {callbackCalled_ = true;}
       void setupDepthCallbacks(
               rclcpp::Node & node,
               bool subscribeOdom,
               bool subscribeUserData,
               bool subscribeScan2d,
               bool subscribeScan3d,
               bool subscribeScanDesc,
               bool subscribeOdomInfo,
               int queueSize,
               bool approxSync);
       void setupStereoCallbacks(
               rclcpp::Node & node,
               bool subscribeOdom,
               bool subscribeOdomInfo,
               int queueSize,
               bool approxSync);
       void setupRGBCallbacks(
               rclcpp::Node & node,
               bool subscribeOdom,
               bool subscribeUserData,
               bool subscribeScan2d,
               bool subscribeScan3d,
               bool subscribeScanDesc,
               bool subscribeOdomInfo,
               int queueSize,
               bool approxSync);
       void setupRGBDCallbacks(
               rclcpp::Node & node,
               bool subscribeOdom,
               bool subscribeUserData,
               bool subscribeScan2d,
               bool subscribeScan3d,
               bool subscribeScanDesc,
               bool subscribeOdomInfo,
               int queueSize,
               bool approxSync);
       void setupRGBDXCallbacks(
               rclcpp::Node & node,
               bool subscribeOdom,
               bool subscribeUserData,
               bool subscribeScan2d,
               bool subscribeScan3d,
               bool subscribeScanDesc,
               bool subscribeOdomInfo,
               int queueSize,
               bool approxSync);
   #ifdef RTABMAP_SYNC_MULTI_RGBD
       void setupRGBD2Callbacks(
               rclcpp::Node & node,
               bool subscribeOdom,
               bool subscribeUserData,
               bool subscribeScan2d,
               bool subscribeScan3d,
               bool subscribeScanDesc,
               bool subscribeOdomInfo,
               int queueSize,
               bool approxSync);
       void setupRGBD3Callbacks(
               rclcpp::Node & node,
               bool subscribeOdom,
               bool subscribeUserData,
               bool subscribeScan2d,
               bool subscribeScan3d,
               bool subscribeScanDesc,
               bool subscribeOdomInfo,
               int queueSize,
               bool approxSync);
       void setupRGBD4Callbacks(
               rclcpp::Node & node,
               bool subscribeOdom,
               bool subscribeUserData,
               bool subscribeScan2d,
               bool subscribeScan3d,
               bool subscribeScanDesc,
               bool subscribeOdomInfo,
               int queueSize,
               bool approxSync); 
       void setupRGBD5Callbacks(
               rclcpp::Node & node,
               bool subscribeOdom,
               bool subscribeUserData,
               bool subscribeScan2d,
               bool subscribeScan3d,
               bool subscribeScanDesc,
               bool subscribeOdomInfo,
               int queueSize,
               bool approxSync);
       void setupRGBD6Callbacks(
               rclcpp::Node & node,
               bool subscribeOdom,
               bool subscribeUserData,
               bool subscribeScan2d,
               bool subscribeScan3d,
               bool subscribeScanDesc,
               bool subscribeOdomInfo,
               int queueSize,
               bool approxSync);
   #endif
       void setupScanCallbacks(
               rclcpp::Node & node,
               bool subscribeScan2d,
               bool subscribeScanDesc,
               bool subscribeOdom,
               bool subscribeUserData,
               bool subscribeOdomInfo,
               int queueSize,
               bool approxSync);
       void setupOdomCallbacks(
               rclcpp::Node & node,
               bool subscribeUserData,
               bool subscribeOdomInfo,
               int queueSize,
               bool approxSync);
   
   protected:
       std::string subscribedTopicsMsg_;
       int queueSize_;
       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_;
   
   private:
       bool approxSync_;
       std::thread* warningThread_;
       bool callbackCalled_;
       bool subscribedToDepth_;
       bool subscribedToStereo_;
       bool subscribedToRGB_;
       bool subscribedToOdom_;
       bool subscribedToRGBD_;
       bool subscribedToScan2d_;
       bool subscribedToScan3d_;
       bool subscribedToScanDescriptor_;
       bool subscribedToOdomInfo_;
       bool subscribedToUserData_;
       std::string odomFrameId_;
       int rgbdCameras_;
       std::string name_;
   
       //for depth and rgb-only callbacks
       image_transport::SubscriberFilter imageSub_;
       image_transport::SubscriberFilter imageDepthSub_;
       message_filters::Subscriber<sensor_msgs::msg::CameraInfo> cameraInfoSub_;
   
       //for rgbd callback
       rclcpp::Subscription<rtabmap_msgs::msg::RGBDImage>::ConstSharedPtr rgbdSub_;
       std::vector<message_filters::Subscriber<rtabmap_msgs::msg::RGBDImage>*> rgbdSubs_;
       rclcpp::Subscription<rtabmap_msgs::msg::RGBDImages>::ConstSharedPtr rgbdXSubOnly_;
       message_filters::Subscriber<rtabmap_msgs::msg::RGBDImages> rgbdXSub_;
   
       //stereo callback
       image_transport::SubscriberFilter imageRectLeft_;
       image_transport::SubscriberFilter imageRectRight_;
       message_filters::Subscriber<sensor_msgs::msg::CameraInfo> cameraInfoLeft_;
       message_filters::Subscriber<sensor_msgs::msg::CameraInfo> cameraInfoRight_;
   
       message_filters::Subscriber<nav_msgs::msg::Odometry> odomSub_;
       message_filters::Subscriber<rtabmap_msgs::msg::UserData> userDataSub_;
       message_filters::Subscriber<sensor_msgs::msg::LaserScan> scanSub_;
       message_filters::Subscriber<sensor_msgs::msg::PointCloud2> scan3dSub_;
       message_filters::Subscriber<rtabmap_msgs::msg::ScanDescriptor> scanDescSub_;
       message_filters::Subscriber<rtabmap_msgs::msg::OdomInfo> odomInfoSub_;
   
       rclcpp::Subscription<sensor_msgs::msg::LaserScan>::ConstSharedPtr scan2dSubOnly_;
       rclcpp::Subscription<sensor_msgs::msg::PointCloud2>::ConstSharedPtr scan3dSubOnly_;
       rclcpp::Subscription<rtabmap_msgs::msg::ScanDescriptor>::ConstSharedPtr scanDescSubOnly_;
       rclcpp::Subscription<nav_msgs::msg::Odometry>::ConstSharedPtr odomSubOnly_;
   
       // RGB + Depth
       DATA_SYNCS3(depth, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo)
       DATA_SYNCS4(depthScan2d, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::LaserScan)
       DATA_SYNCS4(depthScan3d, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::PointCloud2)
       DATA_SYNCS4(depthScanDesc, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, rtabmap_msgs::msg::ScanDescriptor)
       DATA_SYNCS4(depthInfo, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, rtabmap_msgs::msg::OdomInfo)
       DATA_SYNCS5(depthScan2dInfo, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::LaserScan, rtabmap_msgs::msg::OdomInfo)
       DATA_SYNCS5(depthScan3dInfo, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::PointCloud2, rtabmap_msgs::msg::OdomInfo)
       DATA_SYNCS5(depthScanDescInfo, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, rtabmap_msgs::msg::ScanDescriptor, rtabmap_msgs::msg::OdomInfo)
   
       // RGB + Depth + Odom
       DATA_SYNCS4(depthOdom, nav_msgs::msg::Odometry, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo)
       DATA_SYNCS5(depthOdomScan2d, nav_msgs::msg::Odometry, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::LaserScan)
       DATA_SYNCS5(depthOdomScan3d, nav_msgs::msg::Odometry, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::PointCloud2)
       DATA_SYNCS5(depthOdomScanDesc, nav_msgs::msg::Odometry, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, rtabmap_msgs::msg::ScanDescriptor)
       DATA_SYNCS5(depthOdomInfo, nav_msgs::msg::Odometry, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, rtabmap_msgs::msg::OdomInfo)
       DATA_SYNCS6(depthOdomScan2dInfo, nav_msgs::msg::Odometry, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::LaserScan, rtabmap_msgs::msg::OdomInfo)
       DATA_SYNCS6(depthOdomScan3dInfo, nav_msgs::msg::Odometry, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::PointCloud2, rtabmap_msgs::msg::OdomInfo)
       DATA_SYNCS6(depthOdomScanDescInfo, nav_msgs::msg::Odometry, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, rtabmap_msgs::msg::ScanDescriptor, rtabmap_msgs::msg::OdomInfo)
   
   #ifdef RTABMAP_SYNC_USER_DATA
       // RGB + Depth + User Data
       DATA_SYNCS4(depthData, rtabmap_msgs::msg::UserData, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo)
       DATA_SYNCS5(depthDataScan2d, rtabmap_msgs::msg::UserData, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::LaserScan)
       DATA_SYNCS5(depthDataScan3d, rtabmap_msgs::msg::UserData, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::PointCloud2)
       DATA_SYNCS5(depthDataScanDesc, rtabmap_msgs::msg::UserData, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, rtabmap_msgs::msg::ScanDescriptor)
       DATA_SYNCS5(depthDataInfo, rtabmap_msgs::msg::UserData, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, rtabmap_msgs::msg::OdomInfo)
       DATA_SYNCS6(depthDataScan2dInfo, rtabmap_msgs::msg::UserData, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::LaserScan, rtabmap_msgs::msg::OdomInfo)
       DATA_SYNCS6(depthDataScan3dInfo, rtabmap_msgs::msg::UserData, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::PointCloud2, rtabmap_msgs::msg::OdomInfo)
       DATA_SYNCS6(depthDataScanDescInfo, rtabmap_msgs::msg::UserData, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, rtabmap_msgs::msg::ScanDescriptor, rtabmap_msgs::msg::OdomInfo)
   
       // RGB + Depth + Odom + User Data
       DATA_SYNCS5(depthOdomData, nav_msgs::msg::Odometry, rtabmap_msgs::msg::UserData, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo)
       DATA_SYNCS6(depthOdomDataScan2d, nav_msgs::msg::Odometry, rtabmap_msgs::msg::UserData, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::LaserScan)
       DATA_SYNCS6(depthOdomDataScan3d, nav_msgs::msg::Odometry, rtabmap_msgs::msg::UserData, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::PointCloud2)
       DATA_SYNCS6(depthOdomDataScanDesc, nav_msgs::msg::Odometry, rtabmap_msgs::msg::UserData, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, rtabmap_msgs::msg::ScanDescriptor)
       DATA_SYNCS6(depthOdomDataInfo, nav_msgs::msg::Odometry, rtabmap_msgs::msg::UserData, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, rtabmap_msgs::msg::OdomInfo)
       DATA_SYNCS7(depthOdomDataScan2dInfo, nav_msgs::msg::Odometry, rtabmap_msgs::msg::UserData, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::LaserScan, rtabmap_msgs::msg::OdomInfo)
       DATA_SYNCS7(depthOdomDataScan3dInfo, nav_msgs::msg::Odometry, rtabmap_msgs::msg::UserData, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::PointCloud2, rtabmap_msgs::msg::OdomInfo)
       DATA_SYNCS7(depthOdomDataScanDescInfo, nav_msgs::msg::Odometry, rtabmap_msgs::msg::UserData, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, rtabmap_msgs::msg::ScanDescriptor, rtabmap_msgs::msg::OdomInfo)
   #endif
   
       // Stereo
       DATA_SYNCS4(stereo, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::CameraInfo)
       DATA_SYNCS5(stereoInfo, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::CameraInfo, rtabmap_msgs::msg::OdomInfo)
   
       // Stereo + Odom
       DATA_SYNCS5(stereoOdom, nav_msgs::msg::Odometry, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::CameraInfo)
       DATA_SYNCS6(stereoOdomInfo, nav_msgs::msg::Odometry, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::CameraInfo, rtabmap_msgs::msg::OdomInfo)
   
       // RGB-only
       DATA_SYNCS2(rgb, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo)
       DATA_SYNCS3(rgbScan2d, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::LaserScan)
       DATA_SYNCS3(rgbScan3d, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::PointCloud2)
       DATA_SYNCS3(rgbScanDesc, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, rtabmap_msgs::msg::ScanDescriptor)
       DATA_SYNCS3(rgbInfo, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, rtabmap_msgs::msg::OdomInfo)
       DATA_SYNCS4(rgbScan2dInfo, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::LaserScan, rtabmap_msgs::msg::OdomInfo)
       DATA_SYNCS4(rgbScan3dInfo, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::PointCloud2, rtabmap_msgs::msg::OdomInfo)
       DATA_SYNCS4(rgbScanDescInfo, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, rtabmap_msgs::msg::ScanDescriptor, rtabmap_msgs::msg::OdomInfo)
   
       // RGB-only + Odom
       DATA_SYNCS3(rgbOdom, nav_msgs::msg::Odometry, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo)
       DATA_SYNCS4(rgbOdomScan2d, nav_msgs::msg::Odometry, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::LaserScan)
       DATA_SYNCS4(rgbOdomScan3d, nav_msgs::msg::Odometry, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::PointCloud2)
       DATA_SYNCS4(rgbOdomScanDesc, nav_msgs::msg::Odometry, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, rtabmap_msgs::msg::ScanDescriptor)
       DATA_SYNCS4(rgbOdomInfo, nav_msgs::msg::Odometry, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, rtabmap_msgs::msg::OdomInfo)
       DATA_SYNCS5(rgbOdomScan2dInfo, nav_msgs::msg::Odometry, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::LaserScan, rtabmap_msgs::msg::OdomInfo)
       DATA_SYNCS5(rgbOdomScan3dInfo, nav_msgs::msg::Odometry, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::PointCloud2, rtabmap_msgs::msg::OdomInfo)
       DATA_SYNCS5(rgbOdomScanDescInfo, nav_msgs::msg::Odometry, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, rtabmap_msgs::msg::ScanDescriptor, rtabmap_msgs::msg::OdomInfo)
   
   #ifdef RTABMAP_SYNC_USER_DATA
       // RGB-only + User Data
       DATA_SYNCS3(rgbData, rtabmap_msgs::msg::UserData, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo)
       DATA_SYNCS4(rgbDataScan2d, rtabmap_msgs::msg::UserData, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::LaserScan)
       DATA_SYNCS4(rgbDataScan3d, rtabmap_msgs::msg::UserData, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::PointCloud2)
       DATA_SYNCS4(rgbDataScanDesc, rtabmap_msgs::msg::UserData, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, rtabmap_msgs::msg::ScanDescriptor)
       DATA_SYNCS4(rgbDataInfo, rtabmap_msgs::msg::UserData, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, rtabmap_msgs::msg::OdomInfo)
       DATA_SYNCS5(rgbDataScan2dInfo, rtabmap_msgs::msg::UserData, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::LaserScan, rtabmap_msgs::msg::OdomInfo)
       DATA_SYNCS5(rgbDataScan3dInfo, rtabmap_msgs::msg::UserData, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::PointCloud2, rtabmap_msgs::msg::OdomInfo)
       DATA_SYNCS5(rgbDataScanDescInfo, rtabmap_msgs::msg::UserData, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, rtabmap_msgs::msg::ScanDescriptor, rtabmap_msgs::msg::OdomInfo)
   
       // RGB-only + Odom + User Data
       DATA_SYNCS4(rgbOdomData, nav_msgs::msg::Odometry, rtabmap_msgs::msg::UserData, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo)
       DATA_SYNCS5(rgbOdomDataScan2d, nav_msgs::msg::Odometry, rtabmap_msgs::msg::UserData, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::LaserScan)
       DATA_SYNCS5(rgbOdomDataScan3d, nav_msgs::msg::Odometry, rtabmap_msgs::msg::UserData, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::PointCloud2)
       DATA_SYNCS5(rgbOdomDataScanDesc, nav_msgs::msg::Odometry, rtabmap_msgs::msg::UserData, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, rtabmap_msgs::msg::ScanDescriptor)
       DATA_SYNCS5(rgbOdomDataInfo, nav_msgs::msg::Odometry, rtabmap_msgs::msg::UserData, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, rtabmap_msgs::msg::OdomInfo)
       DATA_SYNCS6(rgbOdomDataScan2dInfo, nav_msgs::msg::Odometry, rtabmap_msgs::msg::UserData, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::LaserScan, rtabmap_msgs::msg::OdomInfo)
       DATA_SYNCS6(rgbOdomDataScan3dInfo, nav_msgs::msg::Odometry, rtabmap_msgs::msg::UserData, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::PointCloud2, rtabmap_msgs::msg::OdomInfo)
       DATA_SYNCS6(rgbOdomDataScanDescInfo, nav_msgs::msg::Odometry, rtabmap_msgs::msg::UserData, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, rtabmap_msgs::msg::ScanDescriptor, rtabmap_msgs::msg::OdomInfo)
   #endif
   
       // 1 RGBD
       void rgbdCallback(const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr);
       DATA_SYNCS2(rgbdScan2d, rtabmap_msgs::msg::RGBDImage, sensor_msgs::msg::LaserScan)
       DATA_SYNCS2(rgbdScan3d, rtabmap_msgs::msg::RGBDImage, sensor_msgs::msg::PointCloud2)
       DATA_SYNCS2(rgbdScanDesc, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::ScanDescriptor)
       DATA_SYNCS2(rgbdInfo, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::OdomInfo)
   
       // 1 RGBD + Odom
       DATA_SYNCS2(rgbdOdom, nav_msgs::msg::Odometry, rtabmap_msgs::msg::RGBDImage)
       DATA_SYNCS3(rgbdOdomScan2d, nav_msgs::msg::Odometry, rtabmap_msgs::msg::RGBDImage, sensor_msgs::msg::LaserScan)
       DATA_SYNCS3(rgbdOdomScan3d, nav_msgs::msg::Odometry, rtabmap_msgs::msg::RGBDImage, sensor_msgs::msg::PointCloud2)
       DATA_SYNCS3(rgbdOdomScanDesc, nav_msgs::msg::Odometry, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::ScanDescriptor)
       DATA_SYNCS3(rgbdOdomInfo, nav_msgs::msg::Odometry, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::OdomInfo)
   
   #ifdef RTABMAP_SYNC_USER_DATA
       // 1 RGBD + User Data
       DATA_SYNCS2(rgbdData, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImage)
       DATA_SYNCS3(rgbdDataScan2d, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImage, sensor_msgs::msg::LaserScan)
       DATA_SYNCS3(rgbdDataScan3d, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImage, sensor_msgs::msg::PointCloud2)
       DATA_SYNCS3(rgbdDataScanDesc, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::ScanDescriptor)
       DATA_SYNCS3(rgbdDataInfo, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::OdomInfo)
   
       // 1 RGBD + Odom + User Data
       DATA_SYNCS3(rgbdOdomData, nav_msgs::msg::Odometry, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImage)
       DATA_SYNCS4(rgbdOdomDataScan2d, nav_msgs::msg::Odometry, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImage, sensor_msgs::msg::LaserScan)
       DATA_SYNCS4(rgbdOdomDataScan3d, nav_msgs::msg::Odometry, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImage, sensor_msgs::msg::PointCloud2)
       DATA_SYNCS4(rgbdOdomDataScanDesc, nav_msgs::msg::Odometry, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::ScanDescriptor)
       DATA_SYNCS4(rgbdOdomDataInfo, nav_msgs::msg::Odometry, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::OdomInfo)
   #endif
   
       // X RGBD
       void rgbdXCallback(const rtabmap_msgs::msg::RGBDImages::ConstSharedPtr);
       DATA_SYNCS2(rgbdXScan2d, rtabmap_msgs::msg::RGBDImages, sensor_msgs::msg::LaserScan)
       DATA_SYNCS2(rgbdXScan3d, rtabmap_msgs::msg::RGBDImages, sensor_msgs::msg::PointCloud2)
       DATA_SYNCS2(rgbdXScanDesc, rtabmap_msgs::msg::RGBDImages, rtabmap_msgs::msg::ScanDescriptor)
       DATA_SYNCS2(rgbdXInfo, rtabmap_msgs::msg::RGBDImages, rtabmap_msgs::msg::OdomInfo)
   
       // X RGBD + Odom
       DATA_SYNCS2(rgbdXOdom, nav_msgs::msg::Odometry, rtabmap_msgs::msg::RGBDImages)
       DATA_SYNCS3(rgbdXOdomScan2d, nav_msgs::msg::Odometry, rtabmap_msgs::msg::RGBDImages, sensor_msgs::msg::LaserScan)
       DATA_SYNCS3(rgbdXOdomScan3d, nav_msgs::msg::Odometry, rtabmap_msgs::msg::RGBDImages, sensor_msgs::msg::PointCloud2)
       DATA_SYNCS3(rgbdXOdomScanDesc, nav_msgs::msg::Odometry, rtabmap_msgs::msg::RGBDImages, rtabmap_msgs::msg::ScanDescriptor)
       DATA_SYNCS3(rgbdXOdomInfo, nav_msgs::msg::Odometry, rtabmap_msgs::msg::RGBDImages, rtabmap_msgs::msg::OdomInfo)
   
   #ifdef RTABMAP_SYNC_USER_DATA
       // X RGBD + User Data
       DATA_SYNCS2(rgbdXData, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImages)
       DATA_SYNCS3(rgbdXDataScan2d, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImages, sensor_msgs::msg::LaserScan)
       DATA_SYNCS3(rgbdXDataScan3d, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImages, sensor_msgs::msg::PointCloud2)
       DATA_SYNCS3(rgbdXDataScanDesc, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImages, rtabmap_msgs::msg::ScanDescriptor)
       DATA_SYNCS3(rgbdXDataInfo, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImages, rtabmap_msgs::msg::OdomInfo)
   
       // X RGBD + Odom + User Data
       DATA_SYNCS3(rgbdXOdomData, nav_msgs::msg::Odometry, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImages)
       DATA_SYNCS4(rgbdXOdomDataScan2d, nav_msgs::msg::Odometry, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImages, sensor_msgs::msg::LaserScan)
       DATA_SYNCS4(rgbdXOdomDataScan3d, nav_msgs::msg::Odometry, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImages, sensor_msgs::msg::PointCloud2)
       DATA_SYNCS4(rgbdXOdomDataScanDesc, nav_msgs::msg::Odometry, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImages, rtabmap_msgs::msg::ScanDescriptor)
       DATA_SYNCS4(rgbdXOdomDataInfo, nav_msgs::msg::Odometry, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImages, rtabmap_msgs::msg::OdomInfo)
   #endif
   
   #ifdef RTABMAP_SYNC_MULTI_RGBD
       // 2 RGBD
       DATA_SYNCS2(rgbd2, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage)
       DATA_SYNCS3(rgbd2Scan2d, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, sensor_msgs::msg::LaserScan)
       DATA_SYNCS3(rgbd2Scan3d, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, sensor_msgs::msg::PointCloud2)
       DATA_SYNCS3(rgbd2ScanDesc, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::ScanDescriptor)
       DATA_SYNCS3(rgbd2Info, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::OdomInfo)
       // 2 RGBD + Odom
       DATA_SYNCS3(rgbd2Odom, nav_msgs::msg::Odometry, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage)
       DATA_SYNCS4(rgbd2OdomScan2d, nav_msgs::msg::Odometry, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, sensor_msgs::msg::LaserScan)
       DATA_SYNCS4(rgbd2OdomScan3d, nav_msgs::msg::Odometry, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, sensor_msgs::msg::PointCloud2)
       DATA_SYNCS4(rgbd2OdomScanDesc, nav_msgs::msg::Odometry, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::ScanDescriptor)
       DATA_SYNCS4(rgbd2OdomInfo, nav_msgs::msg::Odometry, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::OdomInfo)
   
   #ifdef RTABMAP_SYNC_USER_DATA
       // 2 RGBD + User Data
       DATA_SYNCS3(rgbd2Data, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage)
       DATA_SYNCS4(rgbd2DataScan2d, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, sensor_msgs::msg::LaserScan)
       DATA_SYNCS4(rgbd2DataScan3d, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, sensor_msgs::msg::PointCloud2)
       DATA_SYNCS4(rgbd2DataScanDesc, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::ScanDescriptor)
       DATA_SYNCS4(rgbd2DataInfo, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::OdomInfo)
   
       // 2 RGBD + Odom + User Data
       DATA_SYNCS4(rgbd2OdomData, nav_msgs::msg::Odometry, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage)
       DATA_SYNCS5(rgbd2OdomDataScan2d, nav_msgs::msg::Odometry, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, sensor_msgs::msg::LaserScan)
       DATA_SYNCS5(rgbd2OdomDataScan3d, nav_msgs::msg::Odometry, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, sensor_msgs::msg::PointCloud2)
       DATA_SYNCS5(rgbd2OdomDataScanDesc, nav_msgs::msg::Odometry, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::ScanDescriptor)
       DATA_SYNCS5(rgbd2OdomDataInfo, nav_msgs::msg::Odometry, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::OdomInfo)
   #endif
   
       // 3 RGBD
       DATA_SYNCS3(rgbd3, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage)
       DATA_SYNCS4(rgbd3Scan2d, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, sensor_msgs::msg::LaserScan)
       DATA_SYNCS4(rgbd3Scan3d, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, sensor_msgs::msg::PointCloud2)
       DATA_SYNCS4(rgbd3ScanDesc, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::ScanDescriptor)
       DATA_SYNCS4(rgbd3Info, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::OdomInfo)
   
       // 3 RGBD + Odom
       DATA_SYNCS4(rgbd3Odom, nav_msgs::msg::Odometry, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage)
       DATA_SYNCS5(rgbd3OdomScan2d, nav_msgs::msg::Odometry, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, sensor_msgs::msg::LaserScan)
       DATA_SYNCS5(rgbd3OdomScan3d, nav_msgs::msg::Odometry, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, sensor_msgs::msg::PointCloud2)
       DATA_SYNCS5(rgbd3OdomScanDesc, nav_msgs::msg::Odometry, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::ScanDescriptor)
       DATA_SYNCS5(rgbd3OdomInfo, nav_msgs::msg::Odometry, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::OdomInfo)
   
   #ifdef RTABMAP_SYNC_USER_DATA
       // 3 RGBD + User Data
       DATA_SYNCS4(rgbd3Data, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage)
       DATA_SYNCS5(rgbd3DataScan2d, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, sensor_msgs::msg::LaserScan)
       DATA_SYNCS5(rgbd3DataScan3d, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, sensor_msgs::msg::PointCloud2)
       DATA_SYNCS5(rgbd3DataScanDesc, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::ScanDescriptor)
       DATA_SYNCS5(rgbd3DataInfo, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::OdomInfo)
   
       // 3 RGBD + Odom + User Data
       DATA_SYNCS5(rgbd3OdomData, nav_msgs::msg::Odometry, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage)
       DATA_SYNCS6(rgbd3OdomDataScan2d, nav_msgs::msg::Odometry, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, sensor_msgs::msg::LaserScan)
       DATA_SYNCS6(rgbd3OdomDataScan3d, nav_msgs::msg::Odometry, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, sensor_msgs::msg::PointCloud2)
       DATA_SYNCS6(rgbd3OdomDataScanDesc, nav_msgs::msg::Odometry, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::ScanDescriptor)
       DATA_SYNCS6(rgbd3OdomDataInfo, nav_msgs::msg::Odometry, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::OdomInfo)
   #endif
   
       // 4 RGBD
       DATA_SYNCS4(rgbd4, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage)
       DATA_SYNCS5(rgbd4Scan2d, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, sensor_msgs::msg::LaserScan)
       DATA_SYNCS5(rgbd4Scan3d, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, sensor_msgs::msg::PointCloud2)
       DATA_SYNCS5(rgbd4ScanDesc, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::ScanDescriptor)
       DATA_SYNCS5(rgbd4Info, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::OdomInfo)
   
       // 4 RGBD + Odom
       DATA_SYNCS5(rgbd4Odom, nav_msgs::msg::Odometry, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage)
       DATA_SYNCS6(rgbd4OdomScan2d, nav_msgs::msg::Odometry, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, sensor_msgs::msg::LaserScan)
       DATA_SYNCS6(rgbd4OdomScan3d, nav_msgs::msg::Odometry, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, sensor_msgs::msg::PointCloud2)
       DATA_SYNCS6(rgbd4OdomScanDesc, nav_msgs::msg::Odometry, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::ScanDescriptor)
       DATA_SYNCS6(rgbd4OdomInfo, nav_msgs::msg::Odometry, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::OdomInfo)
   
   #ifdef RTABMAP_SYNC_USER_DATA
       // 4 RGBD + User Data
       DATA_SYNCS5(rgbd4Data, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage)
       DATA_SYNCS6(rgbd4DataScan2d, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, sensor_msgs::msg::LaserScan)
       DATA_SYNCS6(rgbd4DataScan3d, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, sensor_msgs::msg::PointCloud2)
       DATA_SYNCS6(rgbd4DataScanDesc, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::ScanDescriptor)
       DATA_SYNCS6(rgbd4DataInfo, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::OdomInfo)
       // 4 RGBD + Odom + User Data
       DATA_SYNCS6(rgbd4OdomData, nav_msgs::msg::Odometry, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage)
       DATA_SYNCS7(rgbd4OdomDataScan2d, nav_msgs::msg::Odometry, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, sensor_msgs::msg::LaserScan)
       DATA_SYNCS7(rgbd4OdomDataScan3d, nav_msgs::msg::Odometry, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, sensor_msgs::msg::PointCloud2)
       DATA_SYNCS7(rgbd4OdomDataScanDesc, nav_msgs::msg::Odometry, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::ScanDescriptor)
       DATA_SYNCS7(rgbd4OdomDataInfo, nav_msgs::msg::Odometry, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::OdomInfo)
   #endif
   
       // 5 RGBD
       DATA_SYNCS5(rgbd5, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage)
       DATA_SYNCS6(rgbd5Scan2d, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, sensor_msgs::msg::LaserScan)
       DATA_SYNCS6(rgbd5Scan3d, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, sensor_msgs::msg::PointCloud2)
       DATA_SYNCS6(rgbd5ScanDesc, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::ScanDescriptor)
       DATA_SYNCS6(rgbd5Info, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::OdomInfo)
   
       // 5 RGBD + Odom
       DATA_SYNCS6(rgbd5Odom, nav_msgs::msg::Odometry, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage)
       DATA_SYNCS7(rgbd5OdomScan2d, nav_msgs::msg::Odometry, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, sensor_msgs::msg::LaserScan)
       DATA_SYNCS7(rgbd5OdomScan3d, nav_msgs::msg::Odometry, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, sensor_msgs::msg::PointCloud2)
       DATA_SYNCS7(rgbd5OdomScanDesc, nav_msgs::msg::Odometry, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::ScanDescriptor)
       DATA_SYNCS7(rgbd5OdomInfo, nav_msgs::msg::Odometry, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::OdomInfo)
   
       // 6 RGBD
       DATA_SYNCS6(rgbd6, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage)
       DATA_SYNCS7(rgbd6Scan2d, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, sensor_msgs::msg::LaserScan)
       DATA_SYNCS7(rgbd6Scan3d, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, sensor_msgs::msg::PointCloud2)
       DATA_SYNCS7(rgbd6ScanDesc, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::ScanDescriptor)
       DATA_SYNCS7(rgbd6Info, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::OdomInfo)
   
       // 6 RGBD + Odom
       DATA_SYNCS7(rgbd6Odom, nav_msgs::msg::Odometry, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage)
       DATA_SYNCS8(rgbd6OdomScan2d, nav_msgs::msg::Odometry, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, sensor_msgs::msg::LaserScan)
       DATA_SYNCS8(rgbd6OdomScan3d, nav_msgs::msg::Odometry, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, sensor_msgs::msg::PointCloud2)
       DATA_SYNCS8(rgbd6OdomScanDesc, nav_msgs::msg::Odometry, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::ScanDescriptor)
       DATA_SYNCS8(rgbd6OdomInfo, nav_msgs::msg::Odometry, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::RGBDImage, rtabmap_msgs::msg::OdomInfo)
   
   #endif //RTABMAP_SYNC_MULTI_RGBD
   
       // Scan
       void scan2dCallback(const sensor_msgs::msg::LaserScan::ConstSharedPtr);
       void scan3dCallback(const sensor_msgs::msg::PointCloud2::ConstSharedPtr);
       void scanDescCallback(const rtabmap_msgs::msg::ScanDescriptor::ConstSharedPtr);
       DATA_SYNCS2(scan2dInfo, sensor_msgs::msg::LaserScan, rtabmap_msgs::msg::OdomInfo)
       DATA_SYNCS2(scan3dInfo, sensor_msgs::msg::PointCloud2, rtabmap_msgs::msg::OdomInfo)
       DATA_SYNCS2(scanDescInfo, rtabmap_msgs::msg::ScanDescriptor, rtabmap_msgs::msg::OdomInfo)
   
       // Scan + Odom
       DATA_SYNCS2(odomScan2d, nav_msgs::msg::Odometry, sensor_msgs::msg::LaserScan)
       DATA_SYNCS2(odomScan3d, nav_msgs::msg::Odometry, sensor_msgs::msg::PointCloud2)
       DATA_SYNCS2(odomScanDesc, nav_msgs::msg::Odometry, rtabmap_msgs::msg::ScanDescriptor)
       DATA_SYNCS3(odomScan2dInfo, nav_msgs::msg::Odometry, sensor_msgs::msg::LaserScan, rtabmap_msgs::msg::OdomInfo)
       DATA_SYNCS3(odomScan3dInfo, nav_msgs::msg::Odometry, sensor_msgs::msg::PointCloud2, rtabmap_msgs::msg::OdomInfo)
       DATA_SYNCS3(odomScanDescInfo, nav_msgs::msg::Odometry, rtabmap_msgs::msg::ScanDescriptor, rtabmap_msgs::msg::OdomInfo)
   
   #ifdef RTABMAP_SYNC_USER_DATA
       // Scan + User Data
       DATA_SYNCS2(dataScan2d, rtabmap_msgs::msg::UserData, sensor_msgs::msg::LaserScan)
       DATA_SYNCS2(dataScan3d, rtabmap_msgs::msg::UserData, sensor_msgs::msg::PointCloud2)
       DATA_SYNCS2(dataScanDesc, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::ScanDescriptor)
       DATA_SYNCS3(dataScan2dInfo, rtabmap_msgs::msg::UserData, sensor_msgs::msg::LaserScan, rtabmap_msgs::msg::OdomInfo)
       DATA_SYNCS3(dataScan3dInfo, rtabmap_msgs::msg::UserData, sensor_msgs::msg::PointCloud2, rtabmap_msgs::msg::OdomInfo)
       DATA_SYNCS3(dataScanDescInfo, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::ScanDescriptor, rtabmap_msgs::msg::OdomInfo)
   
       // Scan + Odom + User Data
       DATA_SYNCS3(odomDataScan2d, nav_msgs::msg::Odometry, rtabmap_msgs::msg::UserData, sensor_msgs::msg::LaserScan)
       DATA_SYNCS3(odomDataScan3d, nav_msgs::msg::Odometry, rtabmap_msgs::msg::UserData, sensor_msgs::msg::PointCloud2)
       DATA_SYNCS3(odomDataScanDesc, nav_msgs::msg::Odometry, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::ScanDescriptor)
       DATA_SYNCS4(odomDataScan2dInfo, nav_msgs::msg::Odometry, rtabmap_msgs::msg::UserData, sensor_msgs::msg::LaserScan, rtabmap_msgs::msg::OdomInfo)
       DATA_SYNCS4(odomDataScan3dInfo, nav_msgs::msg::Odometry, rtabmap_msgs::msg::UserData, sensor_msgs::msg::PointCloud2, rtabmap_msgs::msg::OdomInfo)
       DATA_SYNCS4(odomDataScanDescInfo, nav_msgs::msg::Odometry, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::ScanDescriptor, rtabmap_msgs::msg::OdomInfo)
   #endif
   
       // Odom
       void odomCallback(const nav_msgs::msg::Odometry::ConstSharedPtr);
       DATA_SYNCS2(odomInfo, nav_msgs::msg::Odometry, rtabmap_msgs::msg::OdomInfo)
   
   #ifdef RTABMAP_SYNC_USER_DATA
       // Odom + User Data
       DATA_SYNCS2(odomData, nav_msgs::msg::Odometry, rtabmap_msgs::msg::UserData)
       DATA_SYNCS3(odomDataInfo, nav_msgs::msg::Odometry, rtabmap_msgs::msg::UserData, rtabmap_msgs::msg::OdomInfo)
   #endif
   };
   
   } /* namespace rtabmap_ros */
   
   #endif /* INCLUDE_RTABMAP_ROS_COMMONDATASUBSCRIBER_H_ */