From e0542c7e4b315d3e309f95ea047ac4a2583efd31 Mon Sep 17 00:00:00 2001 From: ChristopherBilberg Date: Sun, 22 Sep 2024 00:51:13 +0200 Subject: [PATCH] Make sure to use syncQueueSize for sync policies in (#1209) PointCloudAggregator Queue size parameter was split into sync_queue_size and topic_queue_size parameters in ae44e1a2157b84e67ade530f2b8e713eac9650e8, however syncQueueSize was never used in PointCloudAggregator. Co-authored-by: Christopher Prinds Bilberg --- rtabmap_util/src/nodelets/point_cloud_aggregator.cpp | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/rtabmap_util/src/nodelets/point_cloud_aggregator.cpp b/rtabmap_util/src/nodelets/point_cloud_aggregator.cpp index 80493365a..19ad1886d 100644 --- a/rtabmap_util/src/nodelets/point_cloud_aggregator.cpp +++ b/rtabmap_util/src/nodelets/point_cloud_aggregator.cpp @@ -135,14 +135,14 @@ class PointCloudAggregator : public nodelet::Nodelet cloudSub_4_.subscribe(nh, "cloud4", queueSize); if(approx) { - approxSync4_ = new message_filters::Synchronizer(ApproxSync4Policy(queueSize), cloudSub_1_, cloudSub_2_, cloudSub_3_, cloudSub_4_); + approxSync4_ = new message_filters::Synchronizer(ApproxSync4Policy(syncQueueSize), cloudSub_1_, cloudSub_2_, cloudSub_3_, cloudSub_4_); if(approxSyncMaxInterval > 0.0) approxSync4_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval)); approxSync4_->registerCallback(boost::bind(&rtabmap_util::PointCloudAggregator::clouds4_callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4)); } else { - exactSync4_ = new message_filters::Synchronizer(ExactSync4Policy(queueSize), cloudSub_1_, cloudSub_2_, cloudSub_3_, cloudSub_4_); + exactSync4_ = new message_filters::Synchronizer(ExactSync4Policy(syncQueueSize), cloudSub_1_, cloudSub_2_, cloudSub_3_, cloudSub_4_); exactSync4_->registerCallback(boost::bind(&rtabmap_util::PointCloudAggregator::clouds4_callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4)); } subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync%s):\n %s,\n %s,\n %s,\n %s", @@ -159,14 +159,14 @@ class PointCloudAggregator : public nodelet::Nodelet cloudSub_3_.subscribe(nh, "cloud3", queueSize); if(approx) { - approxSync3_ = new message_filters::Synchronizer(ApproxSync3Policy(queueSize), cloudSub_1_, cloudSub_2_, cloudSub_3_); + approxSync3_ = new message_filters::Synchronizer(ApproxSync3Policy(syncQueueSize), cloudSub_1_, cloudSub_2_, cloudSub_3_); if(approxSyncMaxInterval > 0.0) approxSync3_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval)); approxSync3_->registerCallback(boost::bind(&rtabmap_util::PointCloudAggregator::clouds3_callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3)); } else { - exactSync3_ = new message_filters::Synchronizer(ExactSync3Policy(queueSize), cloudSub_1_, cloudSub_2_, cloudSub_3_); + exactSync3_ = new message_filters::Synchronizer(ExactSync3Policy(syncQueueSize), cloudSub_1_, cloudSub_2_, cloudSub_3_); exactSync3_->registerCallback(boost::bind(&rtabmap_util::PointCloudAggregator::clouds3_callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3)); } subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync%s):\n %s,\n %s,\n %s", @@ -181,14 +181,14 @@ class PointCloudAggregator : public nodelet::Nodelet { if(approx) { - approxSync2_ = new message_filters::Synchronizer(ApproxSync2Policy(queueSize), cloudSub_1_, cloudSub_2_); + approxSync2_ = new message_filters::Synchronizer(ApproxSync2Policy(syncQueueSize), cloudSub_1_, cloudSub_2_); if(approxSyncMaxInterval > 0.0) approxSync2_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval)); approxSync2_->registerCallback(boost::bind(&rtabmap_util::PointCloudAggregator::clouds2_callback, this, boost::placeholders::_1, boost::placeholders::_2)); } else { - exactSync2_ = new message_filters::Synchronizer(ExactSync2Policy(queueSize), cloudSub_1_, cloudSub_2_); + exactSync2_ = new message_filters::Synchronizer(ExactSync2Policy(syncQueueSize), cloudSub_1_, cloudSub_2_); exactSync2_->registerCallback(boost::bind(&rtabmap_util::PointCloudAggregator::clouds2_callback, this, boost::placeholders::_1, boost::placeholders::_2)); } subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync%s):\n %s,\n %s",