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Nacho/re enable ipc #253

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merged 7 commits into from
Nov 23, 2023
Merged

Nacho/re enable ipc #253

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aa6a0d4
Add composable launch example
nachovizzo Nov 2, 2023
d1d5d75
Use SensorDataQoS() as default to enable IPC
nachovizzo Nov 2, 2023
f504f84
Change rviz configuration
nachovizzo Nov 2, 2023
87f6e54
Use `unique_ptr` to allow for true IPC
nachovizzo Nov 2, 2023
fdf5f21
Move component registration to translation unit
nachovizzo Nov 2, 2023
f446f76
Fix sytle
nachovizzo Nov 2, 2023
b812205
Delete unnecessary unique_ptrs after PR conversation
nachovizzo Nov 2, 2023
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5 changes: 4 additions & 1 deletion ros/ros2/OdometryServer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -81,7 +81,7 @@ OdometryServer::OdometryServer(const rclcpp::NodeOptions &options)
std::bind(&OdometryServer::RegisterFrame, this, std::placeholders::_1));

// Initialize publishers
rclcpp::QoS qos((rclcpp::SystemDefaultsQoS()));
rclcpp::QoS qos((rclcpp::SystemDefaultsQoS().keep_last(1).durability_volatile()));
odom_publisher_ = create_publisher<nav_msgs::msg::Odometry>("/kiss/odometry", qos);
traj_publisher_ = create_publisher<nav_msgs::msg::Path>("/kiss/trajectory", qos);
path_msg_.header.frame_id = odom_frame_;
Expand Down Expand Up @@ -214,3 +214,6 @@ void OdometryServer::PublishClouds(const std::vector<Eigen::Vector3d> frame,
}
}
} // namespace kiss_icp_ros

#include "rclcpp_components/register_node_macro.hpp"
RCLCPP_COMPONENTS_REGISTER_NODE(kiss_icp_ros::OdometryServer)
7 changes: 0 additions & 7 deletions ros/ros2/OdometryServer.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -94,10 +94,3 @@ class OdometryServer : public rclcpp::Node {
};

} // namespace kiss_icp_ros

#include "rclcpp_components/register_node_macro.hpp"

// Register the component with class_loader.
// This acts as a sort of entry point, allowing the component to be
// discoverable when its library is being loaded into a running process.
RCLCPP_COMPONENTS_REGISTER_NODE(kiss_icp_ros::OdometryServer)
10 changes: 5 additions & 5 deletions ros/rviz/kiss_icp_ros2.rviz
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Original file line number Diff line number Diff line change
Expand Up @@ -58,7 +58,7 @@ Visualization Manager:
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Reliability Policy: Best Effort
Value: /kiss/frame
Use Fixed Frame: true
Use rainbow: true
Expand Down Expand Up @@ -92,7 +92,7 @@ Visualization Manager:
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Reliability Policy: Best Effort
Value: /kiss/keypoints
Use Fixed Frame: true
Use rainbow: true
Expand Down Expand Up @@ -126,7 +126,7 @@ Visualization Manager:
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Reliability Policy: Best Effort
Value: /kiss/local_map
Use Fixed Frame: true
Use rainbow: true
Expand Down Expand Up @@ -171,7 +171,7 @@ Visualization Manager:
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Reliability Policy: Best Effort
Value: /kiss/odometry
Value: true
- Alpha: 1
Expand Down Expand Up @@ -199,7 +199,7 @@ Visualization Manager:
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Reliability Policy: Best Effort
Value: /kiss/trajectory
Value: true
Enabled: true
Expand Down
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