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Split queue_size param into sync_queue_size and topic_queue_size para…
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…meters for more fine tuning of topic synchronization (#1054)
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@matlabbe
matlabbe committed Jun 12, 2024
1 parent 9ced85d commit ae44e1a
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Showing 33 changed files with 882 additions and 779 deletions.
25 changes: 17 additions & 8 deletions rtabmap_launch/launch/rtabmap.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -47,7 +47,9 @@
<arg name="ground_truth_base_frame_id" default=""/> <!-- e.g., "tracker", a fake frame matching the frame "frame_id" (but on different TF tree) -->
<arg name="namespace" default="rtabmap"/>
<arg name="database_path" default="~/.ros/rtabmap.db"/>
<arg name="queue_size" default="10"/>
<arg name="topic_queue_size" default="1"/>
<arg name="queue_size" default="10"/> <!-- for backward compatibility, use sync_queue_size directly-->
<arg name="sync_queue_size" default="$(arg queue_size)"/>
<arg name="wait_for_transform" default="0.2"/>
<arg name="args" default=""/> <!-- delete_db_on_start, udebug -->
<arg name="rtabmap_args" default="$(arg args)"/> <!-- deprecated, use "args" argument -->
Expand Down Expand Up @@ -181,7 +183,8 @@
<remap from="rgbd_image" to="$(arg rgbd_topic_relay)"/>
<param name="approx_sync" type="bool" value="$(arg approx_rgbd_sync)"/>
<param name="approx_sync_max_interval" type="double" value="$(arg approx_sync_max_interval)"/>
<param name="queue_size" type="int" value="$(arg queue_size)"/>
<param name="topic_queue_size" type="int" value="$(arg topic_queue_size)"/>
<param name="sync_queue_size" type="int" value="$(arg sync_queue_size)"/>
<param name="depth_scale" type="double" value="$(arg rgbd_depth_scale)"/>
<param name="decimation" type="double" value="$(arg rgbd_decimation)"/>
</node>
Expand All @@ -203,7 +206,8 @@
<remap from="rgbd_image" to="$(arg rgbd_topic_relay)"/>
<param name="approx_sync" type="bool" value="$(arg approx_rgbd_sync)"/>
<param name="approx_sync_max_interval" type="double" value="$(arg approx_sync_max_interval)"/>
<param name="queue_size" type="int" value="$(arg queue_size)"/>
<param name="topic_queue_size" type="int" value="$(arg topic_queue_size)"/>
<param name="sync_queue_size" type="int" value="$(arg sync_queue_size)"/>
</node>
</group>
</group>
Expand Down Expand Up @@ -253,7 +257,8 @@
<param name="approx_sync" type="bool" value="$(arg approx_sync)"/>
<param name="approx_sync_max_interval" type="double" value="$(arg approx_sync_max_interval)"/>
<param name="config_path" type="string" value="$(arg cfg)"/>
<param name="queue_size" type="int" value="$(arg queue_size)"/>
<param name="topic_queue_size" type="int" value="$(arg topic_queue_size)"/>
<param name="sync_queue_size" type="int" value="$(arg sync_queue_size)"/>
<param name="subscribe_rgbd" type="bool" value="$(arg subscribe_rgbd)"/>
<param name="guess_frame_id" type="string" value="$(arg odom_guess_frame_id)"/>
<param name="guess_min_translation" type="double" value="$(arg odom_guess_min_translation)"/>
Expand Down Expand Up @@ -283,7 +288,8 @@
<param name="approx_sync" type="bool" value="$(arg approx_sync)"/>
<param name="approx_sync_max_interval" type="double" value="$(arg approx_sync_max_interval)"/>
<param name="config_path" type="string" value="$(arg cfg)"/>
<param name="queue_size" type="int" value="$(arg queue_size)"/>
<param name="topic_queue_size" type="int" value="$(arg topic_queue_size)"/>
<param name="sync_queue_size" type="int" value="$(arg sync_queue_size)"/>
<param name="subscribe_rgbd" type="bool" value="$(arg subscribe_rgbd)"/>
<param name="guess_frame_id" type="string" value="$(arg odom_guess_frame_id)"/>
<param name="guess_min_translation" type="double" value="$(arg odom_guess_min_translation)"/>
Expand All @@ -310,7 +316,8 @@
<param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/>
<param name="wait_imu_to_init" type="bool" value="$(arg wait_imu_to_init)"/>
<param name="config_path" type="string" value="$(arg cfg)"/>
<param name="queue_size" type="int" value="$(arg queue_size)"/>
<param name="topic_queue_size" type="int" value="$(arg topic_queue_size)"/>
<param name="sync_queue_size" type="int" value="$(arg sync_queue_size)"/>
<param name="guess_frame_id" type="string" value="$(arg odom_guess_frame_id)"/>
<param name="guess_min_translation" type="double" value="$(arg odom_guess_min_translation)"/>
<param name="guess_min_rotation" type="double" value="$(arg odom_guess_min_rotation)"/>
Expand Down Expand Up @@ -377,7 +384,8 @@
<param name="database_path" type="string" value="$(arg database_path)"/>
<param name="approx_sync" type="bool" value="$(eval approx_sync and not use_odom_features)"/>
<param name="config_path" type="string" value="$(arg cfg)"/>
<param name="queue_size" type="int" value="$(arg queue_size)"/>
<param name="topic_queue_size" type="int" value="$(arg topic_queue_size)"/>
<param name="sync_queue_size" type="int" value="$(arg sync_queue_size)"/>
<param if="$(eval not scan_cloud_filtered and not scan_cloud_assembling)" name="scan_cloud_max_points" type="int" value="$(arg scan_cloud_max_points)"/>
<param name="landmark_linear_variance" type="double" value="$(arg tag_linear_variance)"/>
<param name="landmark_angular_variance" type="double" value="$(arg tag_angular_variance)"/>
Expand Down Expand Up @@ -434,7 +442,8 @@
<param name="frame_id" type="string" value="$(arg frame_id)"/>
<param name="odom_frame_id" type="string" value="$(arg odom_frame_id)"/>
<param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/>
<param name="queue_size" type="int" value="$(arg queue_size)"/>
<param name="topic_queue_size" type="int" value="$(arg topic_queue_size)"/>
<param name="sync_queue_size" type="int" value="$(arg sync_queue_size)"/>
<param name="approx_sync" type="bool" value="$(eval approx_sync and not use_odom_features)"/>

<remap from="rgb/image" to="$(arg rgb_topic_relay)"/>
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