CommonDataSubscriberScan.cpp
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1 /*
2 Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
3 All rights reserved.
4 
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15 
16 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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25 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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27 
28 #include <rtabmap_sync/CommonDataSubscriber.h>
29 
30 namespace rtabmap_sync {
31 
32 void CommonDataSubscriber::scan2dCallback(
33  const sensor_msgs::LaserScanConstPtr& scanMsg)
34 {
35  rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
36  nav_msgs::OdometryConstPtr odomMsg; // Null
37  sensor_msgs::PointCloud2 scan3dMsg; // Null
38  rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
39  commonLaserScanCallback(odomMsg, userDataMsg, *scanMsg, scan3dMsg, odomInfoMsg);
40 }
41 void CommonDataSubscriber::scan3dCallback(
42  const sensor_msgs::PointCloud2ConstPtr& scanMsg)
43 {
44  rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
45  nav_msgs::OdometryConstPtr odomMsg; // Null
46  sensor_msgs::LaserScan scan2dMsg; // Null
47  rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
48  commonLaserScanCallback(odomMsg, userDataMsg, scan2dMsg, *scanMsg, odomInfoMsg);
49 }
50 void CommonDataSubscriber::scanDescCallback(
51  const rtabmap_msgs::ScanDescriptorConstPtr& scanMsg)
52 {
53  rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
54  nav_msgs::OdometryConstPtr odomMsg; // Null
55  rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
56  commonLaserScanCallback(odomMsg, userDataMsg, scanMsg->scan, scanMsg->scan_cloud, odomInfoMsg, scanMsg->global_descriptor);
57 }
58 void CommonDataSubscriber::scan2dInfoCallback(
59  const sensor_msgs::LaserScanConstPtr& scanMsg,
60  const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
61 {
62  rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
63  nav_msgs::OdometryConstPtr odomMsg; // Null
64  sensor_msgs::PointCloud2 scan3dMsg; // Null
65  commonLaserScanCallback(odomMsg, userDataMsg, *scanMsg, scan3dMsg, odomInfoMsg);
66 }
67 void CommonDataSubscriber::scan3dInfoCallback(
68  const sensor_msgs::PointCloud2ConstPtr& scanMsg,
69  const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
70 {
71  rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
72  nav_msgs::OdometryConstPtr odomMsg; // Null
73  sensor_msgs::LaserScan scan2dMsg; // Null
74  commonLaserScanCallback(odomMsg, userDataMsg, scan2dMsg, *scanMsg, odomInfoMsg);
75 }
76 void CommonDataSubscriber::scanDescInfoCallback(
77  const rtabmap_msgs::ScanDescriptorConstPtr& scanMsg,
78  const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
79 {
80  rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
81  nav_msgs::OdometryConstPtr odomMsg; // Null
82  commonLaserScanCallback(odomMsg, userDataMsg, scanMsg->scan, scanMsg->scan_cloud, odomInfoMsg, scanMsg->global_descriptor);
83 }
84 
85 void CommonDataSubscriber::odomScan2dCallback(
86  const nav_msgs::OdometryConstPtr & odomMsg,
87  const sensor_msgs::LaserScanConstPtr& scanMsg)
88 {
89  rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
90  sensor_msgs::PointCloud2 scan3dMsg; // Null
91  rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
92  commonLaserScanCallback(odomMsg, userDataMsg, *scanMsg, scan3dMsg, odomInfoMsg);
93 }
94 void CommonDataSubscriber::odomScan3dCallback(
95  const nav_msgs::OdometryConstPtr & odomMsg,
96  const sensor_msgs::PointCloud2ConstPtr& scanMsg)
97 {
98  rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
99  sensor_msgs::LaserScan scan2dMsg; // Null
100  rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
101  commonLaserScanCallback(odomMsg, userDataMsg, scan2dMsg, *scanMsg, odomInfoMsg);
102 }
103 void CommonDataSubscriber::odomScanDescCallback(
104  const nav_msgs::OdometryConstPtr & odomMsg,
105  const rtabmap_msgs::ScanDescriptorConstPtr& scanMsg)
106 {
107  rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
108  rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
109  commonLaserScanCallback(odomMsg, userDataMsg, scanMsg->scan, scanMsg->scan_cloud, odomInfoMsg, scanMsg->global_descriptor);
110 }
111 void CommonDataSubscriber::odomScan2dInfoCallback(
112  const nav_msgs::OdometryConstPtr & odomMsg,
113  const sensor_msgs::LaserScanConstPtr& scanMsg,
114  const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
115 {
116  rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
117  sensor_msgs::PointCloud2 scan3dMsg; // Null
118  commonLaserScanCallback(odomMsg, userDataMsg, *scanMsg, scan3dMsg, odomInfoMsg);
119 }
120 void CommonDataSubscriber::odomScan3dInfoCallback(
121  const nav_msgs::OdometryConstPtr & odomMsg,
122  const sensor_msgs::PointCloud2ConstPtr& scanMsg,
123  const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
124 {
125  rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
126  sensor_msgs::LaserScan scan2dMsg; // Null
127  commonLaserScanCallback(odomMsg, userDataMsg, scan2dMsg, *scanMsg, odomInfoMsg);
128 }
129 void CommonDataSubscriber::odomScanDescInfoCallback(
130  const nav_msgs::OdometryConstPtr & odomMsg,
131  const rtabmap_msgs::ScanDescriptorConstPtr& scanMsg,
132  const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
133 {
134  rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
135  commonLaserScanCallback(odomMsg, userDataMsg, scanMsg->scan, scanMsg->scan_cloud, odomInfoMsg, scanMsg->global_descriptor);
136 }
137 
138 #ifdef RTABMAP_SYNC_USER_DATA
139 void CommonDataSubscriber::dataScan2dCallback(
140  const rtabmap_msgs::UserDataConstPtr & userDataMsg,
141  const sensor_msgs::LaserScanConstPtr& scanMsg)
142 {
143  nav_msgs::OdometryConstPtr odomMsg; // null
144  sensor_msgs::PointCloud2 scan3dMsg; // Null
145  rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
146  commonLaserScanCallback(odomMsg, userDataMsg, *scanMsg, scan3dMsg, odomInfoMsg);
147 }
148 void CommonDataSubscriber::dataScan3dCallback(
149  const rtabmap_msgs::UserDataConstPtr & userDataMsg,
150  const sensor_msgs::PointCloud2ConstPtr& scanMsg)
151 {
152  nav_msgs::OdometryConstPtr odomMsg; // null
153  sensor_msgs::LaserScan scan2dMsg; // Null
154  rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
155  commonLaserScanCallback(odomMsg, userDataMsg, scan2dMsg, *scanMsg, odomInfoMsg);
156 }
157 void CommonDataSubscriber::dataScanDescCallback(
158  const rtabmap_msgs::UserDataConstPtr & userDataMsg,
159  const rtabmap_msgs::ScanDescriptorConstPtr& scanMsg)
160 {
161  nav_msgs::OdometryConstPtr odomMsg; // null
162  rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
163  commonLaserScanCallback(odomMsg, userDataMsg, scanMsg->scan, scanMsg->scan_cloud, odomInfoMsg, scanMsg->global_descriptor);
164 }
165 void CommonDataSubscriber::dataScan2dInfoCallback(
166  const rtabmap_msgs::UserDataConstPtr & userDataMsg,
167  const sensor_msgs::LaserScanConstPtr& scanMsg,
168  const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
169 {
170  nav_msgs::OdometryConstPtr odomMsg; // null
171  sensor_msgs::PointCloud2 scan3dMsg; // Null
172  commonLaserScanCallback(odomMsg, userDataMsg, *scanMsg, scan3dMsg, odomInfoMsg);
173 }
174 void CommonDataSubscriber::dataScan3dInfoCallback(
175  const rtabmap_msgs::UserDataConstPtr & userDataMsg,
176  const sensor_msgs::PointCloud2ConstPtr& scanMsg,
177  const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
178 {
179  nav_msgs::OdometryConstPtr odomMsg; // null
180  sensor_msgs::LaserScan scan2dMsg; // Null
181  commonLaserScanCallback(odomMsg, userDataMsg, scan2dMsg, *scanMsg, odomInfoMsg);
182 }
183 void CommonDataSubscriber::dataScanDescInfoCallback(
184  const rtabmap_msgs::UserDataConstPtr & userDataMsg,
185  const rtabmap_msgs::ScanDescriptorConstPtr& scanMsg,
186  const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
187 {
188  nav_msgs::OdometryConstPtr odomMsg; // null
189  commonLaserScanCallback(odomMsg, userDataMsg, scanMsg->scan, scanMsg->scan_cloud, odomInfoMsg, scanMsg->global_descriptor);
190 }
191 
192 void CommonDataSubscriber::odomDataScan2dCallback(
193  const nav_msgs::OdometryConstPtr & odomMsg,
194  const rtabmap_msgs::UserDataConstPtr & userDataMsg,
195  const sensor_msgs::LaserScanConstPtr& scanMsg)
196 {
197  sensor_msgs::PointCloud2 scan3dMsg; // Null
198  rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
199  commonLaserScanCallback(odomMsg, userDataMsg, *scanMsg, scan3dMsg, odomInfoMsg);
200 }
201 void CommonDataSubscriber::odomDataScan3dCallback(
202  const nav_msgs::OdometryConstPtr & odomMsg,
203  const rtabmap_msgs::UserDataConstPtr & userDataMsg,
204  const sensor_msgs::PointCloud2ConstPtr& scanMsg)
205 {
206  sensor_msgs::LaserScan scan2dMsg; // Null
207  rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
208  commonLaserScanCallback(odomMsg, userDataMsg, scan2dMsg, *scanMsg, odomInfoMsg);
209 }
210 void CommonDataSubscriber::odomDataScanDescCallback(
211  const nav_msgs::OdometryConstPtr & odomMsg,
212  const rtabmap_msgs::UserDataConstPtr & userDataMsg,
213  const rtabmap_msgs::ScanDescriptorConstPtr& scanMsg)
214 {
215  rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
216  commonLaserScanCallback(odomMsg, userDataMsg, scanMsg->scan, scanMsg->scan_cloud, odomInfoMsg, scanMsg->global_descriptor);
217 }
218 void CommonDataSubscriber::odomDataScan2dInfoCallback(
219  const nav_msgs::OdometryConstPtr & odomMsg,
220  const rtabmap_msgs::UserDataConstPtr & userDataMsg,
221  const sensor_msgs::LaserScanConstPtr& scanMsg,
222  const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
223 {
224  sensor_msgs::PointCloud2 scan3dMsg; // Null
225  commonLaserScanCallback(odomMsg, userDataMsg, *scanMsg, scan3dMsg, odomInfoMsg);
226 }
227 void CommonDataSubscriber::odomDataScan3dInfoCallback(
228  const nav_msgs::OdometryConstPtr & odomMsg,
229  const rtabmap_msgs::UserDataConstPtr & userDataMsg,
230  const sensor_msgs::PointCloud2ConstPtr& scanMsg,
231  const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
232 {
233  sensor_msgs::LaserScan scan2dMsg; // Null
234  commonLaserScanCallback(odomMsg, userDataMsg, scan2dMsg, *scanMsg, odomInfoMsg);
235 }
236 void CommonDataSubscriber::odomDataScanDescInfoCallback(
237  const nav_msgs::OdometryConstPtr & odomMsg,
238  const rtabmap_msgs::UserDataConstPtr & userDataMsg,
239  const rtabmap_msgs::ScanDescriptorConstPtr& scanMsg,
240  const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
241 {
242  commonLaserScanCallback(odomMsg, userDataMsg, scanMsg->scan, scanMsg->scan_cloud, odomInfoMsg, scanMsg->global_descriptor);
243 }
244 #endif
245 
246 void CommonDataSubscriber::setupScanCallbacks(
247  ros::NodeHandle & nh,
248  ros::NodeHandle & pnh,
249  bool scan2dTopic,
250  bool scanDescTopic,
251  bool subscribeOdom,
252  bool subscribeUserData,
253  bool subscribeOdomInfo)
254 {
255  ROS_INFO("Setup scan callback");
256 
257  if(subscribeOdom || subscribeUserData || subscribeOdomInfo)
258  {
259  if(scanDescTopic)
260  {
261  subscribedToScanDescriptor_ = true;
262  scanDescSub_.subscribe(nh, "scan_descriptor", topicQueueSize_);
263  }
264  else if(scan2dTopic)
265  {
266  subscribedToScan2d_ = true;
267  scanSub_.subscribe(nh, "scan", topicQueueSize_);
268  }
269  else
270  {
271  subscribedToScan3d_ = true;
272  scan3dSub_.subscribe(nh, "scan_cloud", topicQueueSize_);
273  }
274 
275 #ifdef RTABMAP_SYNC_USER_DATA
276  if(subscribeOdom && subscribeUserData)
277  {
278  odomSub_.subscribe(nh, "odom", topicQueueSize_);
279  userDataSub_.subscribe(nh, "user_data", topicQueueSize_);
280 
281  if(scanDescTopic)
282  {
283  if(subscribeOdomInfo)
284  {
285  subscribedToOdomInfo_ = true;
286  odomInfoSub_.subscribe(nh, "odom_info", topicQueueSize_);
287  SYNC_DECL4(CommonDataSubscriber, odomDataScanDescInfo, approxSync_, syncQueueSize_, odomSub_, userDataSub_, scanDescSub_, odomInfoSub_);
288  }
289  else
290  {
291  SYNC_DECL3(CommonDataSubscriber, odomDataScanDesc, approxSync_, syncQueueSize_, odomSub_, userDataSub_, scanDescSub_);
292  }
293  }
294  else if(scan2dTopic)
295  {
296  if(subscribeOdomInfo)
297  {
298  subscribedToOdomInfo_ = true;
299  odomInfoSub_.subscribe(nh, "odom_info", topicQueueSize_);
300  SYNC_DECL4(CommonDataSubscriber, odomDataScan2dInfo, approxSync_, syncQueueSize_, odomSub_, userDataSub_, scanSub_, odomInfoSub_);
301  }
302  else
303  {
304  SYNC_DECL3(CommonDataSubscriber, odomDataScan2d, approxSync_, syncQueueSize_, odomSub_, userDataSub_, scanSub_);
305  }
306  }
307  else
308  {
309  if(subscribeOdomInfo)
310  {
311  subscribedToOdomInfo_ = true;
312  odomInfoSub_.subscribe(nh, "odom_info", topicQueueSize_);
313  SYNC_DECL4(CommonDataSubscriber, odomDataScan3dInfo, approxSync_, syncQueueSize_, odomSub_, userDataSub_, scan3dSub_, odomInfoSub_);
314  }
315  else
316  {
317  SYNC_DECL3(CommonDataSubscriber, odomDataScan3d, approxSync_, syncQueueSize_, odomSub_, userDataSub_, scan3dSub_);
318  }
319  }
320  }
321  else
322 #endif
323  if(subscribeOdom)
324  {
325  odomSub_.subscribe(nh, "odom", topicQueueSize_);
326 
327  if(scanDescTopic)
328  {
329  if(subscribeOdomInfo)
330  {
331  subscribedToOdomInfo_ = true;
332  odomInfoSub_.subscribe(nh, "odom_info", topicQueueSize_);
333  SYNC_DECL3(CommonDataSubscriber, odomScanDescInfo, approxSync_, syncQueueSize_, odomSub_, scanDescSub_, odomInfoSub_);
334  }
335  else
336  {
337  SYNC_DECL2(CommonDataSubscriber, odomScanDesc, approxSync_, syncQueueSize_, odomSub_, scanDescSub_);
338  }
339  }
340  else if(scan2dTopic)
341  {
342  if(subscribeOdomInfo)
343  {
344  subscribedToOdomInfo_ = true;
345  odomInfoSub_.subscribe(nh, "odom_info", topicQueueSize_);
346  SYNC_DECL3(CommonDataSubscriber, odomScan2dInfo, approxSync_, syncQueueSize_, odomSub_, scanSub_, odomInfoSub_);
347  }
348  else
349  {
350  SYNC_DECL2(CommonDataSubscriber, odomScan2d, approxSync_, syncQueueSize_, odomSub_, scanSub_);
351  }
352  }
353  else
354  {
355  if(subscribeOdomInfo)
356  {
357  subscribedToOdomInfo_ = true;
358  odomInfoSub_.subscribe(nh, "odom_info", topicQueueSize_);
359  SYNC_DECL3(CommonDataSubscriber, odomScan3dInfo, approxSync_, syncQueueSize_, odomSub_, scan3dSub_, odomInfoSub_);
360  }
361  else
362  {
363  SYNC_DECL2(CommonDataSubscriber, odomScan3d, approxSync_, syncQueueSize_, odomSub_, scan3dSub_);
364  }
365  }
366  }
367 #ifdef RTABMAP_SYNC_USER_DATA
368  else if(subscribeUserData)
369  {
370  userDataSub_.subscribe(nh, "user_data", topicQueueSize_);
371 
372  if(scanDescTopic)
373  {
374  if(subscribeOdomInfo)
375  {
376  subscribedToOdomInfo_ = true;
377  odomInfoSub_.subscribe(nh, "odom_info", topicQueueSize_);
378  SYNC_DECL3(CommonDataSubscriber, dataScanDescInfo, approxSync_, syncQueueSize_, userDataSub_, scanDescSub_, odomInfoSub_);
379  }
380  else
381  {
382  SYNC_DECL2(CommonDataSubscriber, dataScanDesc, approxSync_, syncQueueSize_, userDataSub_, scanDescSub_);
383  }
384  }
385  else if(scan2dTopic)
386  {
387  if(subscribeOdomInfo)
388  {
389  subscribedToOdomInfo_ = true;
390  odomInfoSub_.subscribe(nh, "odom_info", topicQueueSize_);
391  SYNC_DECL3(CommonDataSubscriber, dataScan2dInfo, approxSync_, syncQueueSize_, userDataSub_, scanSub_, odomInfoSub_);
392  }
393  else
394  {
395  SYNC_DECL2(CommonDataSubscriber, dataScan2d, approxSync_, syncQueueSize_, userDataSub_, scanSub_);
396  }
397  }
398  else
399  {
400  if(subscribeOdomInfo)
401  {
402  subscribedToOdomInfo_ = true;
403  odomInfoSub_.subscribe(nh, "odom_info", topicQueueSize_);
404  SYNC_DECL3(CommonDataSubscriber, dataScan3dInfo, approxSync_, syncQueueSize_, userDataSub_, scan3dSub_, odomInfoSub_);
405  }
406  else
407  {
408  SYNC_DECL2(CommonDataSubscriber, dataScan3d, approxSync_, syncQueueSize_, userDataSub_, scan3dSub_);
409  }
410  }
411  }
412 #endif
413  else if(subscribeOdomInfo)
414  {
415  subscribedToOdomInfo_ = true;
416  odomInfoSub_.subscribe(nh, "odom_info", topicQueueSize_);
417  if(scanDescTopic)
418  {
419  SYNC_DECL2(CommonDataSubscriber, scanDescInfo, approxSync_, syncQueueSize_, scanDescSub_, odomInfoSub_);
420  }
421  else if(scan2dTopic)
422  {
423  SYNC_DECL2(CommonDataSubscriber, scan2dInfo, approxSync_, syncQueueSize_, scanSub_, odomInfoSub_);
424  }
425  else
426  {
427  SYNC_DECL2(CommonDataSubscriber, scan3dInfo, approxSync_, syncQueueSize_, scan3dSub_, odomInfoSub_);
428  }
429  }
430  }
431  else
432  {
433  if(scanDescTopic)
434  {
435  subscribedToScanDescriptor_ = true;
436  scanDescSubOnly_ = nh.subscribe("scan_descriptor", syncQueueSize_, &CommonDataSubscriber::scanDescCallback, this);
437  subscribedTopicsMsg_ =
438  uFormat("\n%s subscribed to:\n %s",
439  ros::this_node::getName().c_str(),
440  scanDescSubOnly_.getTopic().c_str());
441  }
442  else if(scan2dTopic)
443  {
444  subscribedToScan2d_ = true;
445  scan2dSubOnly_ = nh.subscribe("scan", syncQueueSize_, &CommonDataSubscriber::scan2dCallback, this);
446  subscribedTopicsMsg_ =
447  uFormat("\n%s subscribed to:\n %s",
448  ros::this_node::getName().c_str(),
449  scan2dSubOnly_.getTopic().c_str());
450  }
451  else
452  {
453  subscribedToScan3d_ = true;
454  scan3dSubOnly_ = nh.subscribe("scan_cloud", syncQueueSize_, &CommonDataSubscriber::scan3dCallback, this);
455  subscribedTopicsMsg_ =
456  uFormat("\n%s subscribed to:\n %s",
457  ros::this_node::getName().c_str(),
458  scan3dSubOnly_.getTopic().c_str());
459  }
460  }
461 }
462 
463 } /* namespace rtabmap_sync */
rtabmap_sync::CommonDataSubscriber::scan3dSubOnly_
ros::Subscriber scan3dSubOnly_
Definition: CommonDataSubscriber.h:291
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Definition: CommonDataSubscriberDefines.h:108
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Definition: CommonDataSubscriber.h:59
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ros::Subscriber scan2dSubOnly_
Definition: CommonDataSubscriber.h:290
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std::string uFormat(const char *fmt,...)
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Definition: CommonDataSubscriberDefines.h:127
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virtual void commonLaserScanCallback(const nav_msgs::OdometryConstPtr &odomMsg, const rtabmap_msgs::UserDataConstPtr &userDataMsg, const sensor_msgs::LaserScan &scanMsg, const sensor_msgs::PointCloud2 &scan3dMsg, const rtabmap_msgs::OdomInfoConstPtr &odomInfoMsg, const rtabmap_msgs::GlobalDescriptor &globalDescriptor=rtabmap_msgs::GlobalDescriptor())=0
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Definition: CommonDataSubscriber.h:286
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message_filters::Subscriber< rtabmap_msgs::OdomInfo > odomInfoSub_
Definition: CommonDataSubscriber.h:288
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std::string subscribedTopicsMsg_
Definition: CommonDataSubscriber.h:244
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Definition: CommonDataSubscriber.h:246
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Definition: CommonDataSubscriber.h:287
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Definition: CommonDataSubscriber.h:245
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Definition: CommonDataSubscriber.h:257
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Definition: CommonDataSubscriber.h:285
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Definition: CommonDataSubscriber.h:258
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void setupScanCallbacks(ros::NodeHandle &nh, ros::NodeHandle &pnh, bool subscribeScan2d, bool subscribeScanDesc, bool subscribeOdom, bool subscribeUserData, bool subscribeOdomInfo)
Definition: CommonDataSubscriberScan.cpp:246
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Definition: CommonDataSubscriberScan.cpp:41
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Definition: CommonDataSubscriber.h:249
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Definition: CommonDataSubscriberScan.cpp:50
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Definition: CommonDataSubscriber.h:283
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rtabmap_sync
Author(s): Mathieu Labbe
autogenerated on Mon Apr 28 2025 02:39:12