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/*
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.

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#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_ */