CommonDataSubscriber.h
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1 /*
2 Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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4 
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27 
28 #ifndef INCLUDE_RTABMAP_ROS_COMMONDATASUBSCRIBER_H_
29 #define INCLUDE_RTABMAP_ROS_COMMONDATASUBSCRIBER_H_
30 
31 #include <message_filters/subscriber.h>
32 #include <message_filters/synchronizer.h>
33 #include <message_filters/sync_policies/approximate_time.h>
34 #include <message_filters/sync_policies/exact_time.h>
35 
36 #include <image_transport/image_transport.h>
37 #include <image_transport/subscriber_filter.h>
38 
39 #include <cv_bridge/cv_bridge.h>
40 
41 #include <sensor_msgs/PointCloud2.h>
42 #include <sensor_msgs/Image.h>
43 #include <sensor_msgs/CameraInfo.h>
44 #include <sensor_msgs/LaserScan.h>
45 
46 #include <nav_msgs/Odometry.h>
47 
48 #include <rtabmap_msgs/RGBDImage.h>
49 #include <rtabmap_msgs/RGBDImages.h>
50 #include <rtabmap_msgs/UserData.h>
51 #include <rtabmap_msgs/OdomInfo.h>
52 #include <rtabmap_msgs/ScanDescriptor.h>
53 #include <rtabmap_msgs/SensorData.h>
54 #include <rtabmap_sync/CommonDataSubscriberDefines.h>
55 #include <rtabmap_sync/SyncDiagnostic.h>
56 
57 #include <boost/thread.hpp>
58 
59 namespace rtabmap_sync {
60 
61 class CommonDataSubscriber {
62 public:
63  CommonDataSubscriber(bool gui);
64  virtual ~CommonDataSubscriber();
65 
66  bool isSubscribedToDepth() const {return subscribedToDepth_;}
67  bool isSubscribedToStereo() const {return subscribedToStereo_;}
68  bool isSubscribedToRGB() const {return subscribedToRGB_;}
69  bool isSubscribedToOdom() const {return subscribedToOdom_;}
70  bool isSubscribedToRGBD() const {return subscribedToRGBD_;}
71  bool isSubscribedToScan2d() const {return subscribedToScan2d_;}
72  bool isSubscribedToScan3d() const {return subscribedToScan3d_;}
73  bool isSubscribedToSensorData() const {return subscribedToSensorData_;}
74  bool isSubscribedToOdomInfo() const {return subscribedToOdomInfo_;}
75  bool isDataSubscribed() const {return isSubscribedToDepth() || isSubscribedToStereo() || isSubscribedToRGBD() || isSubscribedToScan2d() || isSubscribedToScan3d() || isSubscribedToRGB() || isSubscribedToOdom() || isSubscribedToSensorData();}
76  int rgbdCameras() const {return isSubscribedToRGBD()?(int)rgbdSubs_.size():0;}
77  int getTopicQueueSize() const {return topicQueueSize_;}
78  int getSyncQueueSize() const {return syncQueueSize_;}
79  bool isApproxSync() const {return approxSync_;}
80  const std::string & name() const {return name_;}
81 
82 protected:
83  void setupCallbacks(
84  ros::NodeHandle & nh,
85  ros::NodeHandle & pnh,
86  const std::string & name,
87  std::vector<diagnostic_updater::DiagnosticTask*> otherTasks = std::vector<diagnostic_updater::DiagnosticTask*>());
88  virtual void commonMultiCameraCallback(
89  const nav_msgs::OdometryConstPtr & odomMsg,
90  const rtabmap_msgs::UserDataConstPtr & userDataMsg,
91  const std::vector<cv_bridge::CvImageConstPtr> & imageMsgs,
92  const std::vector<cv_bridge::CvImageConstPtr> & depthMsgs,
93  const std::vector<sensor_msgs::CameraInfo> & cameraInfoMsgs,
94  const std::vector<sensor_msgs::CameraInfo> & depthCameraInfoMsgs,
95  const sensor_msgs::LaserScan& scanMsg,
96  const sensor_msgs::PointCloud2& scan3dMsg,
97  const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg,
98  const std::vector<rtabmap_msgs::GlobalDescriptor> & globalDescriptorMsgs = std::vector<rtabmap_msgs::GlobalDescriptor>(),
99  const std::vector<std::vector<rtabmap_msgs::KeyPoint> > & localKeyPoints = std::vector<std::vector<rtabmap_msgs::KeyPoint> >(),
100  const std::vector<std::vector<rtabmap_msgs::Point3f> > & localPoints3d = std::vector<std::vector<rtabmap_msgs::Point3f> >(),
101  const std::vector<cv::Mat> & localDescriptors = std::vector<cv::Mat>()) = 0;
102  virtual void commonLaserScanCallback(
103  const nav_msgs::OdometryConstPtr & odomMsg,
104  const rtabmap_msgs::UserDataConstPtr & userDataMsg,
105  const sensor_msgs::LaserScan& scanMsg,
106  const sensor_msgs::PointCloud2& scan3dMsg,
107  const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg,
108  const rtabmap_msgs::GlobalDescriptor & globalDescriptor = rtabmap_msgs::GlobalDescriptor()) = 0;
109  virtual void commonOdomCallback(
110  const nav_msgs::OdometryConstPtr & odomMsg,
111  const rtabmap_msgs::UserDataConstPtr & userDataMsg,
112  const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg) = 0;
113  virtual void commonSensorDataCallback(
114  const rtabmap_msgs::SensorDataConstPtr & sensorDataMsg,
115  const nav_msgs::OdometryConstPtr & odomMsg,
116  const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg) = 0;
117 
118  void commonSingleCameraCallback(
119  const nav_msgs::OdometryConstPtr & odomMsg,
120  const rtabmap_msgs::UserDataConstPtr & userDataMsg,
121  const cv_bridge::CvImageConstPtr & imageMsg,
122  const cv_bridge::CvImageConstPtr & depthMsg,
123  const sensor_msgs::CameraInfo & rgbCameraInfoMsg,
124  const sensor_msgs::CameraInfo & depthCameraInfoMsg,
125  const sensor_msgs::LaserScan& scanMsg,
126  const sensor_msgs::PointCloud2& scan3dMsg,
127  const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg,
128  const std::vector<rtabmap_msgs::GlobalDescriptor> & globalDescriptorMsgs = std::vector<rtabmap_msgs::GlobalDescriptor>(),
129  const std::vector<rtabmap_msgs::KeyPoint> & localKeyPoints = std::vector<rtabmap_msgs::KeyPoint>(),
130  const std::vector<rtabmap_msgs::Point3f> & localPoints3d = std::vector<rtabmap_msgs::Point3f>(),
131  const cv::Mat & localDescriptors = cv::Mat());
132 
133  void tick(const ros::Time & stamp, double targetFrequency = 0);
134 
135 private:
136  void setupDepthCallbacks(
137  ros::NodeHandle & nh,
138  ros::NodeHandle & pnh,
139  bool subscribeOdom,
140  bool subscribeUserData,
141  bool subscribeScan2d,
142  bool subscribeScan3d,
143  bool subscribeScanDesc,
144  bool subscribeOdomInfo);
145  void setupStereoCallbacks(
146  ros::NodeHandle & nh,
147  ros::NodeHandle & pnh,
148  bool subscribeOdom,
149  bool subscribeOdomInfo);
150  void setupRGBCallbacks(
151  ros::NodeHandle & nh,
152  ros::NodeHandle & pnh,
153  bool subscribeOdom,
154  bool subscribeUserData,
155  bool subscribeScan2d,
156  bool subscribeScan3d,
157  bool subscribeScanDesc,
158  bool subscribeOdomInfo);
159  void setupRGBDCallbacks(
160  ros::NodeHandle & nh,
161  ros::NodeHandle & pnh,
162  bool subscribeOdom,
163  bool subscribeUserData,
164  bool subscribeScan2d,
165  bool subscribeScan3d,
166  bool subscribeScanDesc,
167  bool subscribeOdomInfo);
168  void setupRGBDXCallbacks(
169  ros::NodeHandle & nh,
170  ros::NodeHandle & pnh,
171  bool subscribeOdom,
172  bool subscribeUserData,
173  bool subscribeScan2d,
174  bool subscribeScan3d,
175  bool subscribeScanDesc,
176  bool subscribeOdomInfo);
177 #ifdef RTABMAP_SYNC_MULTI_RGBD
178  void setupRGBD2Callbacks(
179  ros::NodeHandle & nh,
180  ros::NodeHandle & pnh,
181  bool subscribeOdom,
182  bool subscribeUserData,
183  bool subscribeScan2d,
184  bool subscribeScan3d,
185  bool subscribeScanDesc,
186  bool subscribeOdomInfo);
187  void setupRGBD3Callbacks(
188  ros::NodeHandle & nh,
189  ros::NodeHandle & pnh,
190  bool subscribeOdom,
191  bool subscribeUserData,
192  bool subscribeScan2d,
193  bool subscribeScan3d,
194  bool subscribeScanDesc,
195  bool subscribeOdomInfo);
196  void setupRGBD4Callbacks(
197  ros::NodeHandle & nh,
198  ros::NodeHandle & pnh,
199  bool subscribeOdom,
200  bool subscribeUserData,
201  bool subscribeScan2d,
202  bool subscribeScan3d,
203  bool subscribeScanDesc,
204  bool subscribeOdomInfo);
205  void setupRGBD5Callbacks(
206  ros::NodeHandle & nh,
207  ros::NodeHandle & pnh,
208  bool subscribeOdom,
209  bool subscribeUserData,
210  bool subscribeScan2d,
211  bool subscribeScan3d,
212  bool subscribeScanDesc,
213  bool subscribeOdomInfo);
214  void setupRGBD6Callbacks(
215  ros::NodeHandle & nh,
216  ros::NodeHandle & pnh,
217  bool subscribeOdom,
218  bool subscribeUserData,
219  bool subscribeScan2d,
220  bool subscribeScan3d,
221  bool subscribeScanDesc,
222  bool subscribeOdomInfo);
223 #endif
224  void setupSensorDataCallbacks(
225  ros::NodeHandle & nh,
226  ros::NodeHandle & pnh,
227  bool subscribeOdom,
228  bool subscribeOdomInfo);
229  void setupScanCallbacks(
230  ros::NodeHandle & nh,
231  ros::NodeHandle & pnh,
232  bool subscribeScan2d,
233  bool subscribeScanDesc,
234  bool subscribeOdom,
235  bool subscribeUserData,
236  bool subscribeOdomInfo);
237  void setupOdomCallbacks(
238  ros::NodeHandle & nh,
239  ros::NodeHandle & pnh,
240  bool subscribeUserData,
241  bool subscribeOdomInfo);
242 
243 protected:
244  std::string subscribedTopicsMsg_;
245  int topicQueueSize_;
246  int syncQueueSize_;
247 
248 private:
249  bool approxSync_;
250  bool subscribedToDepth_;
251  bool subscribedToStereo_;
252  bool subscribedToRGB_;
253  bool subscribedToOdom_;
254  bool subscribedToRGBD_;
255  bool subscribedToSensorData_;
256  bool subscribedToScan2d_;
257  bool subscribedToScan3d_;
258  bool subscribedToScanDescriptor_;
259  bool subscribedToOdomInfo_;
260  std::string name_;
261 
262  //for depth and rgb-only callbacks
263  image_transport::SubscriberFilter imageSub_;
264  image_transport::SubscriberFilter imageDepthSub_;
265  message_filters::Subscriber<sensor_msgs::CameraInfo> cameraInfoSub_;
266 
267  //for rgbd callback
268  ros::Subscriber rgbdSub_;
269  std::vector<message_filters::Subscriber<rtabmap_msgs::RGBDImage>*> rgbdSubs_;
270  ros::Subscriber rgbdXSubOnly_;
271  message_filters::Subscriber<rtabmap_msgs::RGBDImages> rgbdXSub_;
272 
273  //for sensor data callback
274  ros::Subscriber sensorDataSubOnly_;
275  message_filters::Subscriber<rtabmap_msgs::SensorData> sensorDataSub_;
276 
277  //stereo callback
278  image_transport::SubscriberFilter imageRectLeft_;
279  image_transport::SubscriberFilter imageRectRight_;
280  message_filters::Subscriber<sensor_msgs::CameraInfo> cameraInfoLeft_;
281  message_filters::Subscriber<sensor_msgs::CameraInfo> cameraInfoRight_;
282 
283  message_filters::Subscriber<nav_msgs::Odometry> odomSub_;
284  message_filters::Subscriber<rtabmap_msgs::UserData> userDataSub_;
285  message_filters::Subscriber<sensor_msgs::LaserScan> scanSub_;
286  message_filters::Subscriber<sensor_msgs::PointCloud2> scan3dSub_;
287  message_filters::Subscriber<rtabmap_msgs::ScanDescriptor> scanDescSub_;
288  message_filters::Subscriber<rtabmap_msgs::OdomInfo> odomInfoSub_;
289 
290  ros::Subscriber scan2dSubOnly_;
291  ros::Subscriber scan3dSubOnly_;
292  ros::Subscriber scanDescSubOnly_;
293  ros::Subscriber odomSubOnly_;
294 
295  std::unique_ptr<SyncDiagnostic> syncDiagnostic_;
296 
297  // RGB + Depth
298  DATA_SYNCS3(depth, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo);
299  DATA_SYNCS4(depthScan2d, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::LaserScan);
300  DATA_SYNCS4(depthScan3d, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2);
301  DATA_SYNCS4(depthScanDesc, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_msgs::ScanDescriptor);
302  DATA_SYNCS4(depthInfo, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_msgs::OdomInfo);
303  DATA_SYNCS5(depthScan2dInfo, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::LaserScan, rtabmap_msgs::OdomInfo);
304  DATA_SYNCS5(depthScan3dInfo, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2, rtabmap_msgs::OdomInfo);
305  DATA_SYNCS5(depthScanDescInfo, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_msgs::ScanDescriptor, rtabmap_msgs::OdomInfo);
306 
307  // RGB + Depth + Odom
308  DATA_SYNCS4(depthOdom, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo);
309  DATA_SYNCS5(depthOdomScan2d, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::LaserScan);
310  DATA_SYNCS5(depthOdomScan3d, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2);
311  DATA_SYNCS5(depthOdomScanDesc, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_msgs::ScanDescriptor);
312  DATA_SYNCS5(depthOdomInfo, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_msgs::OdomInfo);
313  DATA_SYNCS6(depthOdomScan2dInfo, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::LaserScan, rtabmap_msgs::OdomInfo);
314  DATA_SYNCS6(depthOdomScan3dInfo, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2, rtabmap_msgs::OdomInfo);
315  DATA_SYNCS6(depthOdomScanDescInfo, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_msgs::ScanDescriptor, rtabmap_msgs::OdomInfo);
316 
317 #ifdef RTABMAP_SYNC_USER_DATA
318  // RGB + Depth + User Data
319  DATA_SYNCS4(depthData, rtabmap_msgs::UserData, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo);
320  DATA_SYNCS5(depthDataScan2d, rtabmap_msgs::UserData, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::LaserScan);
321  DATA_SYNCS5(depthDataScan3d, rtabmap_msgs::UserData, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2);
322  DATA_SYNCS5(depthDataScanDesc, rtabmap_msgs::UserData, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_msgs::ScanDescriptor);
323  DATA_SYNCS5(depthDataInfo, rtabmap_msgs::UserData, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_msgs::OdomInfo);
324  DATA_SYNCS6(depthDataScan2dInfo, rtabmap_msgs::UserData, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::LaserScan, rtabmap_msgs::OdomInfo);
325  DATA_SYNCS6(depthDataScan3dInfo, rtabmap_msgs::UserData, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2, rtabmap_msgs::OdomInfo);
326  DATA_SYNCS6(depthDataScanDescInfo, rtabmap_msgs::UserData, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_msgs::ScanDescriptor, rtabmap_msgs::OdomInfo);
327 
328  // RGB + Depth + Odom + User Data
329  DATA_SYNCS5(depthOdomData, nav_msgs::Odometry, rtabmap_msgs::UserData, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo);
330  DATA_SYNCS6(depthOdomDataScan2d, nav_msgs::Odometry, rtabmap_msgs::UserData, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::LaserScan);
331  DATA_SYNCS6(depthOdomDataScan3d, nav_msgs::Odometry, rtabmap_msgs::UserData, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2);
332  DATA_SYNCS6(depthOdomDataScanDesc, nav_msgs::Odometry, rtabmap_msgs::UserData, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_msgs::ScanDescriptor);
333  DATA_SYNCS6(depthOdomDataInfo, nav_msgs::Odometry, rtabmap_msgs::UserData, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_msgs::OdomInfo);
334  DATA_SYNCS7(depthOdomDataScan2dInfo, nav_msgs::Odometry, rtabmap_msgs::UserData, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::LaserScan, rtabmap_msgs::OdomInfo);
335  DATA_SYNCS7(depthOdomDataScan3dInfo, nav_msgs::Odometry, rtabmap_msgs::UserData, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2, rtabmap_msgs::OdomInfo);
336  DATA_SYNCS7(depthOdomDataScanDescInfo, nav_msgs::Odometry, rtabmap_msgs::UserData, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_msgs::ScanDescriptor, rtabmap_msgs::OdomInfo);
337 #endif
338 
339  // Stereo
340  DATA_SYNCS4(stereo, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo);
341  DATA_SYNCS5(stereoInfo, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo, rtabmap_msgs::OdomInfo);
342 
343  // Stereo + Odom
344  DATA_SYNCS5(stereoOdom, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo);
345  DATA_SYNCS6(stereoOdomInfo, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo, rtabmap_msgs::OdomInfo);
346 
347  // RGB-only
348  DATA_SYNCS2(rgb, sensor_msgs::Image, sensor_msgs::CameraInfo);
349  DATA_SYNCS3(rgbScan2d, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::LaserScan);
350  DATA_SYNCS3(rgbScan3d, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2);
351  DATA_SYNCS3(rgbScanDesc, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_msgs::ScanDescriptor);
352  DATA_SYNCS3(rgbInfo, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_msgs::OdomInfo);
353  DATA_SYNCS4(rgbScan2dInfo, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::LaserScan, rtabmap_msgs::OdomInfo);
354  DATA_SYNCS4(rgbScan3dInfo, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2, rtabmap_msgs::OdomInfo);
355  DATA_SYNCS4(rgbScanDescInfo, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_msgs::ScanDescriptor, rtabmap_msgs::OdomInfo);
356 
357  // RGB-only + Odom
358  DATA_SYNCS3(rgbOdom, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::CameraInfo);
359  DATA_SYNCS4(rgbOdomScan2d, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::LaserScan);
360  DATA_SYNCS4(rgbOdomScan3d, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2);
361  DATA_SYNCS4(rgbOdomScanDesc, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_msgs::ScanDescriptor);
362  DATA_SYNCS4(rgbOdomInfo, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_msgs::OdomInfo);
363  DATA_SYNCS5(rgbOdomScan2dInfo, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::LaserScan, rtabmap_msgs::OdomInfo);
364  DATA_SYNCS5(rgbOdomScan3dInfo, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2, rtabmap_msgs::OdomInfo);
365  DATA_SYNCS5(rgbOdomScanDescInfo, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_msgs::ScanDescriptor, rtabmap_msgs::OdomInfo);
366 
367 #ifdef RTABMAP_SYNC_USER_DATA
368  // RGB-only + User Data
369  DATA_SYNCS3(rgbData, rtabmap_msgs::UserData, sensor_msgs::Image, sensor_msgs::CameraInfo);
370  DATA_SYNCS4(rgbDataScan2d, rtabmap_msgs::UserData, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::LaserScan);
371  DATA_SYNCS4(rgbDataScan3d, rtabmap_msgs::UserData, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2);
372  DATA_SYNCS4(rgbDataScanDesc, rtabmap_msgs::UserData, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_msgs::ScanDescriptor);
373  DATA_SYNCS4(rgbDataInfo, rtabmap_msgs::UserData, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_msgs::OdomInfo);
374  DATA_SYNCS5(rgbDataScan2dInfo, rtabmap_msgs::UserData, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::LaserScan, rtabmap_msgs::OdomInfo);
375  DATA_SYNCS5(rgbDataScan3dInfo, rtabmap_msgs::UserData, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2, rtabmap_msgs::OdomInfo);
376  DATA_SYNCS5(rgbDataScanDescInfo, rtabmap_msgs::UserData, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_msgs::ScanDescriptor, rtabmap_msgs::OdomInfo);
377 
378  // RGB-only + Odom + User Data
379  DATA_SYNCS4(rgbOdomData, nav_msgs::Odometry, rtabmap_msgs::UserData, sensor_msgs::Image, sensor_msgs::CameraInfo);
380  DATA_SYNCS5(rgbOdomDataScan2d, nav_msgs::Odometry, rtabmap_msgs::UserData, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::LaserScan);
381  DATA_SYNCS5(rgbOdomDataScan3d, nav_msgs::Odometry, rtabmap_msgs::UserData, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2);
382  DATA_SYNCS5(rgbOdomDataScanDesc, nav_msgs::Odometry, rtabmap_msgs::UserData, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_msgs::ScanDescriptor);
383  DATA_SYNCS5(rgbOdomDataInfo, nav_msgs::Odometry, rtabmap_msgs::UserData, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_msgs::OdomInfo);
384  DATA_SYNCS6(rgbOdomDataScan2dInfo, nav_msgs::Odometry, rtabmap_msgs::UserData, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::LaserScan, rtabmap_msgs::OdomInfo);
385  DATA_SYNCS6(rgbOdomDataScan3dInfo, nav_msgs::Odometry, rtabmap_msgs::UserData, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2, rtabmap_msgs::OdomInfo);
386  DATA_SYNCS6(rgbOdomDataScanDescInfo, nav_msgs::Odometry, rtabmap_msgs::UserData, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_msgs::ScanDescriptor, rtabmap_msgs::OdomInfo);
387 #endif
388 
389  // 1 RGBD
390  void rgbdCallback(const rtabmap_msgs::RGBDImageConstPtr&);
391  DATA_SYNCS2(rgbdScan2d, rtabmap_msgs::RGBDImage, sensor_msgs::LaserScan);
392  DATA_SYNCS2(rgbdScan3d, rtabmap_msgs::RGBDImage, sensor_msgs::PointCloud2)
393  DATA_SYNCS2(rgbdScanDesc, rtabmap_msgs::RGBDImage, rtabmap_msgs::ScanDescriptor);
394  DATA_SYNCS2(rgbdInfo, rtabmap_msgs::RGBDImage, rtabmap_msgs::OdomInfo);
395 
396  // 1 RGBD + Odom
397  DATA_SYNCS2(rgbdOdom, nav_msgs::Odometry, rtabmap_msgs::RGBDImage);
398  DATA_SYNCS3(rgbdOdomScan2d, nav_msgs::Odometry, rtabmap_msgs::RGBDImage, sensor_msgs::LaserScan);
399  DATA_SYNCS3(rgbdOdomScan3d, nav_msgs::Odometry, rtabmap_msgs::RGBDImage, sensor_msgs::PointCloud2);
400  DATA_SYNCS3(rgbdOdomScanDesc, nav_msgs::Odometry, rtabmap_msgs::RGBDImage, rtabmap_msgs::ScanDescriptor);
401  DATA_SYNCS3(rgbdOdomInfo, nav_msgs::Odometry, rtabmap_msgs::RGBDImage, rtabmap_msgs::OdomInfo);
402 
403 #ifdef RTABMAP_SYNC_USER_DATA
404  // 1 RGBD + User Data
405  DATA_SYNCS2(rgbdData, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage);
406  DATA_SYNCS3(rgbdDataScan2d, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, sensor_msgs::LaserScan);
407  DATA_SYNCS3(rgbdDataScan3d, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, sensor_msgs::PointCloud2);
408  DATA_SYNCS3(rgbdDataScanDesc, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::ScanDescriptor);
409  DATA_SYNCS3(rgbdDataInfo, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::OdomInfo);
410 
411  // 1 RGBD + Odom + User Data
412  DATA_SYNCS3(rgbdOdomData, nav_msgs::Odometry, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage);
413  DATA_SYNCS4(rgbdOdomDataScan2d, nav_msgs::Odometry, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, sensor_msgs::LaserScan);
414  DATA_SYNCS4(rgbdOdomDataScan3d, nav_msgs::Odometry, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, sensor_msgs::PointCloud2);
415  DATA_SYNCS4(rgbdOdomDataScanDesc, nav_msgs::Odometry, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::ScanDescriptor);
416  DATA_SYNCS4(rgbdOdomDataInfo, nav_msgs::Odometry, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::OdomInfo);
417 #endif
418 
419  // X RGBD
420  void rgbdXCallback(const rtabmap_msgs::RGBDImagesConstPtr&);
421  DATA_SYNCS2(rgbdXScan2d, rtabmap_msgs::RGBDImages, sensor_msgs::LaserScan);
422  DATA_SYNCS2(rgbdXScan3d, rtabmap_msgs::RGBDImages, sensor_msgs::PointCloud2)
423  DATA_SYNCS2(rgbdXScanDesc, rtabmap_msgs::RGBDImages, rtabmap_msgs::ScanDescriptor);
424  DATA_SYNCS2(rgbdXInfo, rtabmap_msgs::RGBDImages, rtabmap_msgs::OdomInfo);
425 
426  // X RGBD + Odom
427  DATA_SYNCS2(rgbdXOdom, nav_msgs::Odometry, rtabmap_msgs::RGBDImages);
428  DATA_SYNCS3(rgbdXOdomScan2d, nav_msgs::Odometry, rtabmap_msgs::RGBDImages, sensor_msgs::LaserScan);
429  DATA_SYNCS3(rgbdXOdomScan3d, nav_msgs::Odometry, rtabmap_msgs::RGBDImages, sensor_msgs::PointCloud2);
430  DATA_SYNCS3(rgbdXOdomScanDesc, nav_msgs::Odometry, rtabmap_msgs::RGBDImages, rtabmap_msgs::ScanDescriptor);
431  DATA_SYNCS3(rgbdXOdomInfo, nav_msgs::Odometry, rtabmap_msgs::RGBDImages, rtabmap_msgs::OdomInfo);
432 
433 #ifdef RTABMAP_SYNC_USER_DATA
434  // X RGBD + User Data
435  DATA_SYNCS2(rgbdXData, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImages);
436  DATA_SYNCS3(rgbdXDataScan2d, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImages, sensor_msgs::LaserScan);
437  DATA_SYNCS3(rgbdXDataScan3d, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImages, sensor_msgs::PointCloud2);
438  DATA_SYNCS3(rgbdXDataScanDesc, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImages, rtabmap_msgs::ScanDescriptor);
439  DATA_SYNCS3(rgbdXDataInfo, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImages, rtabmap_msgs::OdomInfo);
440 
441  // X RGBD + Odom + User Data
442  DATA_SYNCS3(rgbdXOdomData, nav_msgs::Odometry, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImages);
443  DATA_SYNCS4(rgbdXOdomDataScan2d, nav_msgs::Odometry, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImages, sensor_msgs::LaserScan);
444  DATA_SYNCS4(rgbdXOdomDataScan3d, nav_msgs::Odometry, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImages, sensor_msgs::PointCloud2);
445  DATA_SYNCS4(rgbdXOdomDataScanDesc, nav_msgs::Odometry, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImages, rtabmap_msgs::ScanDescriptor);
446  DATA_SYNCS4(rgbdXOdomDataInfo, nav_msgs::Odometry, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImages, rtabmap_msgs::OdomInfo);
447 #endif
448 
449  // SensorData
450  void sensorDataCallback(const rtabmap_msgs::SensorDataConstPtr&);
451  DATA_SYNCS2(sensorDataInfo, rtabmap_msgs::SensorData, rtabmap_msgs::OdomInfo);
452 
453  // SensorData + Odom
454  DATA_SYNCS2(sensorDataOdom, nav_msgs::Odometry, rtabmap_msgs::SensorData);
455  DATA_SYNCS3(sensorDataOdomInfo, nav_msgs::Odometry, rtabmap_msgs::SensorData, rtabmap_msgs::OdomInfo);
456 
457 #ifdef RTABMAP_SYNC_MULTI_RGBD
458  // 2 RGBD
459  DATA_SYNCS2(rgbd2, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage);
460  DATA_SYNCS3(rgbd2Scan2d, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, sensor_msgs::LaserScan);
461  DATA_SYNCS3(rgbd2Scan3d, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, sensor_msgs::PointCloud2);
462  DATA_SYNCS3(rgbd2ScanDesc, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::ScanDescriptor);
463  DATA_SYNCS3(rgbd2Info, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::OdomInfo);
464 
465  // 2 RGBD + Odom
466  DATA_SYNCS3(rgbd2Odom, nav_msgs::Odometry, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage);
467  DATA_SYNCS4(rgbd2OdomScan2d, nav_msgs::Odometry, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, sensor_msgs::LaserScan);
468  DATA_SYNCS4(rgbd2OdomScan3d, nav_msgs::Odometry, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, sensor_msgs::PointCloud2);
469  DATA_SYNCS4(rgbd2OdomScanDesc, nav_msgs::Odometry, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::ScanDescriptor);
470  DATA_SYNCS4(rgbd2OdomInfo, nav_msgs::Odometry, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::OdomInfo);
471 
472 #ifdef RTABMAP_SYNC_USER_DATA
473  // 2 RGBD + User Data
474  DATA_SYNCS3(rgbd2Data, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage);
475  DATA_SYNCS4(rgbd2DataScan2d, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, sensor_msgs::LaserScan);
476  DATA_SYNCS4(rgbd2DataScan3d, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, sensor_msgs::PointCloud2);
477  DATA_SYNCS4(rgbd2DataScanDesc, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::ScanDescriptor);
478  DATA_SYNCS4(rgbd2DataInfo, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::OdomInfo);
479 
480  // 2 RGBD + Odom + User Data
481  DATA_SYNCS4(rgbd2OdomData, nav_msgs::Odometry, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage);
482  DATA_SYNCS5(rgbd2OdomDataScan2d, nav_msgs::Odometry, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, sensor_msgs::LaserScan);
483  DATA_SYNCS5(rgbd2OdomDataScan3d, nav_msgs::Odometry, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, sensor_msgs::PointCloud2);
484  DATA_SYNCS5(rgbd2OdomDataScanDesc, nav_msgs::Odometry, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::ScanDescriptor);
485  DATA_SYNCS5(rgbd2OdomDataInfo, nav_msgs::Odometry, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::OdomInfo);
486 #endif
487 
488  // 3 RGBD
489  DATA_SYNCS3(rgbd3, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage);
490  DATA_SYNCS4(rgbd3Scan2d, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, sensor_msgs::LaserScan);
491  DATA_SYNCS4(rgbd3Scan3d, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, sensor_msgs::PointCloud2);
492  DATA_SYNCS4(rgbd3ScanDesc, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::ScanDescriptor);
493  DATA_SYNCS4(rgbd3Info, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::OdomInfo);
494 
495  // 3 RGBD + Odom
496  DATA_SYNCS4(rgbd3Odom, nav_msgs::Odometry, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage);
497  DATA_SYNCS5(rgbd3OdomScan2d, nav_msgs::Odometry, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, sensor_msgs::LaserScan);
498  DATA_SYNCS5(rgbd3OdomScan3d, nav_msgs::Odometry, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, sensor_msgs::PointCloud2);
499  DATA_SYNCS5(rgbd3OdomScanDesc, nav_msgs::Odometry, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::ScanDescriptor);
500  DATA_SYNCS5(rgbd3OdomInfo, nav_msgs::Odometry, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::OdomInfo);
501 
502 #ifdef RTABMAP_SYNC_USER_DATA
503  // 3 RGBD + User Data
504  DATA_SYNCS4(rgbd3Data, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage);
505  DATA_SYNCS5(rgbd3DataScan2d, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, sensor_msgs::LaserScan);
506  DATA_SYNCS5(rgbd3DataScan3d, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, sensor_msgs::PointCloud2);
507  DATA_SYNCS5(rgbd3DataScanDesc, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::ScanDescriptor);
508  DATA_SYNCS5(rgbd3DataInfo, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::OdomInfo);
509 
510  // 3 RGBD + Odom + User Data
511  DATA_SYNCS5(rgbd3OdomData, nav_msgs::Odometry, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage);
512  DATA_SYNCS6(rgbd3OdomDataScan2d, nav_msgs::Odometry, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, sensor_msgs::LaserScan);
513  DATA_SYNCS6(rgbd3OdomDataScan3d, nav_msgs::Odometry, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, sensor_msgs::PointCloud2);
514  DATA_SYNCS6(rgbd3OdomDataScanDesc, nav_msgs::Odometry, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::ScanDescriptor);
515  DATA_SYNCS6(rgbd3OdomDataInfo, nav_msgs::Odometry, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::OdomInfo);
516 #endif
517 
518  // 4 RGBD
519  DATA_SYNCS4(rgbd4, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage);
520  DATA_SYNCS5(rgbd4Scan2d, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, sensor_msgs::LaserScan);
521  DATA_SYNCS5(rgbd4Scan3d, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, sensor_msgs::PointCloud2);
522  DATA_SYNCS5(rgbd4ScanDesc, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::ScanDescriptor);
523  DATA_SYNCS5(rgbd4Info, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::OdomInfo);
524 
525  // 4 RGBD + Odom
526  DATA_SYNCS5(rgbd4Odom, nav_msgs::Odometry, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage);
527  DATA_SYNCS6(rgbd4OdomScan2d, nav_msgs::Odometry, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, sensor_msgs::LaserScan);
528  DATA_SYNCS6(rgbd4OdomScan3d, nav_msgs::Odometry, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, sensor_msgs::PointCloud2);
529  DATA_SYNCS6(rgbd4OdomScanDesc, nav_msgs::Odometry, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::ScanDescriptor);
530  DATA_SYNCS6(rgbd4OdomInfo, nav_msgs::Odometry, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::OdomInfo);
531 
532 #ifdef RTABMAP_SYNC_USER_DATA
533  // 4 RGBD + User Data
534  DATA_SYNCS5(rgbd4Data, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage);
535  DATA_SYNCS6(rgbd4DataScan2d, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, sensor_msgs::LaserScan);
536  DATA_SYNCS6(rgbd4DataScan3d, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, sensor_msgs::PointCloud2);
537  DATA_SYNCS6(rgbd4DataScanDesc, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::ScanDescriptor);
538  DATA_SYNCS6(rgbd4DataInfo, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::OdomInfo);
539 
540  // 4 RGBD + Odom + User Data
541  DATA_SYNCS6(rgbd4OdomData, nav_msgs::Odometry, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage);
542  DATA_SYNCS7(rgbd4OdomDataScan2d, nav_msgs::Odometry, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, sensor_msgs::LaserScan);
543  DATA_SYNCS7(rgbd4OdomDataScan3d, nav_msgs::Odometry, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, sensor_msgs::PointCloud2);
544  DATA_SYNCS7(rgbd4OdomDataScanDesc, nav_msgs::Odometry, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::ScanDescriptor);
545  DATA_SYNCS7(rgbd4OdomDataInfo, nav_msgs::Odometry, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::OdomInfo);
546 #endif
547 
548  // 5 RGBD
549  DATA_SYNCS5(rgbd5, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage);
550  DATA_SYNCS6(rgbd5Scan2d, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, sensor_msgs::LaserScan);
551  DATA_SYNCS6(rgbd5Scan3d, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, sensor_msgs::PointCloud2);
552  DATA_SYNCS6(rgbd5ScanDesc, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::ScanDescriptor);
553  DATA_SYNCS6(rgbd5Info, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::OdomInfo);
554 
555  // 5 RGBD + Odom
556  DATA_SYNCS6(rgbd5Odom, nav_msgs::Odometry, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage);
557  DATA_SYNCS7(rgbd5OdomScan2d, nav_msgs::Odometry, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, sensor_msgs::LaserScan);
558  DATA_SYNCS7(rgbd5OdomScan3d, nav_msgs::Odometry, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, sensor_msgs::PointCloud2);
559  DATA_SYNCS7(rgbd5OdomScanDesc, nav_msgs::Odometry, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::ScanDescriptor);
560  DATA_SYNCS7(rgbd5OdomInfo, nav_msgs::Odometry, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::OdomInfo);
561 
562  // 6 RGBD
563  DATA_SYNCS6(rgbd6, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage);
564  DATA_SYNCS7(rgbd6Scan2d, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, sensor_msgs::LaserScan);
565  DATA_SYNCS7(rgbd6Scan3d, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, sensor_msgs::PointCloud2);
566  DATA_SYNCS7(rgbd6ScanDesc, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::ScanDescriptor);
567  DATA_SYNCS7(rgbd6Info, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::OdomInfo);
568 
569  // 6 RGBD + Odom
570  DATA_SYNCS7(rgbd6Odom, nav_msgs::Odometry, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage);
571  DATA_SYNCS8(rgbd6OdomScan2d, nav_msgs::Odometry, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, sensor_msgs::LaserScan);
572  DATA_SYNCS8(rgbd6OdomScan3d, nav_msgs::Odometry, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, sensor_msgs::PointCloud2);
573  DATA_SYNCS8(rgbd6OdomScanDesc, nav_msgs::Odometry, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::ScanDescriptor);
574  DATA_SYNCS8(rgbd6OdomInfo, nav_msgs::Odometry, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::OdomInfo);
575 
576 #endif //RTABMAP_SYNC_MULTI_RGBD
577 
578  // Scan
579  void scan2dCallback(const sensor_msgs::LaserScanConstPtr&);
580  void scan3dCallback(const sensor_msgs::PointCloud2ConstPtr&);
581  void scanDescCallback(const rtabmap_msgs::ScanDescriptorConstPtr&);
582  DATA_SYNCS2(scan2dInfo, sensor_msgs::LaserScan, rtabmap_msgs::OdomInfo);
583  DATA_SYNCS2(scan3dInfo, sensor_msgs::PointCloud2, rtabmap_msgs::OdomInfo);
584  DATA_SYNCS2(scanDescInfo, rtabmap_msgs::ScanDescriptor, rtabmap_msgs::OdomInfo);
585 
586  // Scan + Odom
587  DATA_SYNCS2(odomScan2d, nav_msgs::Odometry, sensor_msgs::LaserScan);
588  DATA_SYNCS2(odomScan3d, nav_msgs::Odometry, sensor_msgs::PointCloud2);
589  DATA_SYNCS2(odomScanDesc, nav_msgs::Odometry, rtabmap_msgs::ScanDescriptor);
590  DATA_SYNCS3(odomScan2dInfo, nav_msgs::Odometry, sensor_msgs::LaserScan, rtabmap_msgs::OdomInfo);
591  DATA_SYNCS3(odomScan3dInfo, nav_msgs::Odometry, sensor_msgs::PointCloud2, rtabmap_msgs::OdomInfo);
592  DATA_SYNCS3(odomScanDescInfo, nav_msgs::Odometry, rtabmap_msgs::ScanDescriptor, rtabmap_msgs::OdomInfo);
593 
594 #ifdef RTABMAP_SYNC_USER_DATA
595  // Scan + User Data
596  DATA_SYNCS2(dataScan2d, rtabmap_msgs::UserData, sensor_msgs::LaserScan);
597  DATA_SYNCS2(dataScan3d, rtabmap_msgs::UserData, sensor_msgs::PointCloud2);
598  DATA_SYNCS2(dataScanDesc, rtabmap_msgs::UserData, rtabmap_msgs::ScanDescriptor);
599  DATA_SYNCS3(dataScan2dInfo, rtabmap_msgs::UserData, sensor_msgs::LaserScan, rtabmap_msgs::OdomInfo);
600  DATA_SYNCS3(dataScan3dInfo, rtabmap_msgs::UserData, sensor_msgs::PointCloud2, rtabmap_msgs::OdomInfo);
601  DATA_SYNCS3(dataScanDescInfo, rtabmap_msgs::UserData, rtabmap_msgs::ScanDescriptor, rtabmap_msgs::OdomInfo);
602 
603  // Scan + Odom + User Data
604  DATA_SYNCS3(odomDataScan2d, nav_msgs::Odometry, rtabmap_msgs::UserData, sensor_msgs::LaserScan);
605  DATA_SYNCS3(odomDataScan3d, nav_msgs::Odometry, rtabmap_msgs::UserData, sensor_msgs::PointCloud2);
606  DATA_SYNCS3(odomDataScanDesc, nav_msgs::Odometry, rtabmap_msgs::UserData, rtabmap_msgs::ScanDescriptor);
607  DATA_SYNCS4(odomDataScan2dInfo, nav_msgs::Odometry, rtabmap_msgs::UserData, sensor_msgs::LaserScan, rtabmap_msgs::OdomInfo);
608  DATA_SYNCS4(odomDataScan3dInfo, nav_msgs::Odometry, rtabmap_msgs::UserData, sensor_msgs::PointCloud2, rtabmap_msgs::OdomInfo);
609  DATA_SYNCS4(odomDataScanDescInfo, nav_msgs::Odometry, rtabmap_msgs::UserData, rtabmap_msgs::ScanDescriptor, rtabmap_msgs::OdomInfo);
610 #endif
611 
612  // Odom
613  void odomCallback(const nav_msgs::OdometryConstPtr&);
614  DATA_SYNCS2(odomInfo, nav_msgs::Odometry, rtabmap_msgs::OdomInfo);
615 
616 #ifdef RTABMAP_SYNC_USER_DATA
617  // Odom + User Data
618  DATA_SYNCS2(odomData, nav_msgs::Odometry, rtabmap_msgs::UserData);
619  DATA_SYNCS3(odomDataInfo, nav_msgs::Odometry, rtabmap_msgs::UserData, rtabmap_msgs::OdomInfo);
620 #endif
621 };
622 
623 } /* namespace rtabmap_sync */
624 
625 #endif /* INCLUDE_RTABMAP_ROS_COMMONDATASUBSCRIBER_H_ */
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rtabmap_sync
Author(s): Mathieu Labbe
autogenerated on Mon Apr 28 2025 02:39:12