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Make sure to use syncQueueSize for sync policies in PointCloudAggregator #1209

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Sep 21, 2024
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Make sure to use syncQueueSize for sync policies in PointCloudAggregator #1209

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12 changes: 6 additions & 6 deletions rtabmap_util/src/nodelets/point_cloud_aggregator.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -135,14 +135,14 @@ class PointCloudAggregator : public nodelet::Nodelet
cloudSub_4_.subscribe(nh, "cloud4", queueSize);
if(approx)
{
approxSync4_ = new message_filters::Synchronizer<ApproxSync4Policy>(ApproxSync4Policy(queueSize), cloudSub_1_, cloudSub_2_, cloudSub_3_, cloudSub_4_);
approxSync4_ = new message_filters::Synchronizer<ApproxSync4Policy>(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>(ExactSync4Policy(queueSize), cloudSub_1_, cloudSub_2_, cloudSub_3_, cloudSub_4_);
exactSync4_ = new message_filters::Synchronizer<ExactSync4Policy>(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",
Expand All @@ -159,14 +159,14 @@ class PointCloudAggregator : public nodelet::Nodelet
cloudSub_3_.subscribe(nh, "cloud3", queueSize);
if(approx)
{
approxSync3_ = new message_filters::Synchronizer<ApproxSync3Policy>(ApproxSync3Policy(queueSize), cloudSub_1_, cloudSub_2_, cloudSub_3_);
approxSync3_ = new message_filters::Synchronizer<ApproxSync3Policy>(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>(ExactSync3Policy(queueSize), cloudSub_1_, cloudSub_2_, cloudSub_3_);
exactSync3_ = new message_filters::Synchronizer<ExactSync3Policy>(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",
Expand All @@ -181,14 +181,14 @@ class PointCloudAggregator : public nodelet::Nodelet
{
if(approx)
{
approxSync2_ = new message_filters::Synchronizer<ApproxSync2Policy>(ApproxSync2Policy(queueSize), cloudSub_1_, cloudSub_2_);
approxSync2_ = new message_filters::Synchronizer<ApproxSync2Policy>(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>(ExactSync2Policy(queueSize), cloudSub_1_, cloudSub_2_);
exactSync2_ = new message_filters::Synchronizer<ExactSync2Policy>(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",
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