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Add Lazy subscription #195

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merged 3 commits into from
Jul 28, 2024
Merged

Add Lazy subscription #195

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280113d
Add lazy subscription to filter chains
bjsowa Jul 23, 2024
b87292c
Check rclcpp version instead of ROS distribution
bjsowa Jul 25, 2024
2105037
Keep the old publisher QoS settings
bjsowa Jul 27, 2024
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4 changes: 4 additions & 0 deletions CMakeLists.txt
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Expand Up @@ -12,6 +12,10 @@ ament_auto_find_build_dependencies()
# Build
##############################################################################

if($ENV{ROS_DISTRO} STREQUAL "humble")
add_compile_definitions(IS_HUMBLE)
endif()
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ament_auto_add_library(laser_scan_filters SHARED src/laser_scan_filters.cpp)
ament_auto_add_library(laser_filter_chains SHARED
src/scan_to_cloud_filter_chain.cpp
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1 change: 1 addition & 0 deletions package.xml
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Expand Up @@ -21,6 +21,7 @@
<depend>rclcpp</depend>
<depend>rclcpp_lifecycle</depend>
<depend>rclcpp_components</depend>
<depend>ros_environment</depend>
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<depend>sensor_msgs</depend>
<depend>tf2</depend>
<depend>tf2_ros</depend>
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40 changes: 32 additions & 8 deletions src/scan_to_cloud_filter_chain.cpp
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Expand Up @@ -45,8 +45,7 @@ ScanToCloudFilterChain::ScanToCloudFilterChain(
laser_max_range_(DBL_MAX),
buffer_(this->get_clock()),
tf_(buffer_),
sub_(this, "scan", rmw_qos_profile_sensor_data),
filter_(sub_, buffer_, "", 50, this->get_node_logging_interface(),
filter_(scan_sub_, buffer_, "", 50, this->get_node_logging_interface(),
this->get_node_clock_interface()),
cloud_filter_chain_("sensor_msgs::msg::PointCloud2"),
scan_filter_chain_("sensor_msgs::msg::LaserScan")
Expand All @@ -55,13 +54,19 @@ ScanToCloudFilterChain::ScanToCloudFilterChain(
read_only_desc.read_only = true;

// Declare parameters
#ifndef IS_HUMBLE
this->declare_parameter("lazy_subscription", false, read_only_desc);
#endif
this->declare_parameter("high_fidelity", false, read_only_desc);
this->declare_parameter("notifier_tolerance", 0.03, read_only_desc);
this->declare_parameter("target_frame", "base_link", read_only_desc);
this->declare_parameter("incident_angle_correction", true, read_only_desc);
this->declare_parameter("laser_max_range", DBL_MAX, read_only_desc);

// Get parameters
#ifndef IS_HUMBLE
this->get_parameter("lazy_subscription", lazy_subscription_);
#endif
this->get_parameter("high_fidelity", high_fidelity_);
this->get_parameter("notifier_tolerance", tf_tolerance_);
this->get_parameter("target_frame", target_frame_);
Expand All @@ -80,11 +85,30 @@ ScanToCloudFilterChain::ScanToCloudFilterChain(
this->get_node_timers_interface());
buffer_.setCreateTimerInterface(timer_interface);

sub_.subscribe(this, "scan", rmw_qos_profile_sensor_data);

filter_.connectInput(sub_);

cloud_pub_ = this->create_publisher<sensor_msgs::msg::PointCloud2>("cloud_filtered", 10);
#ifndef IS_HUMBLE
if (lazy_subscription_) {
rclcpp::PublisherOptions pub_options;
pub_options.event_callbacks.matched_callback =
[this](rclcpp::MatchedInfo & s)
{
if (s.current_count == 0) {
scan_sub_.unsubscribe();
} else if (!scan_sub_.getSubscriber()) {
scan_sub_.subscribe(this, "scan", rmw_qos_profile_sensor_data);
}
};
cloud_pub_ = this->create_publisher<sensor_msgs::msg::PointCloud2>("cloud_filtered",
rclcpp::SensorDataQoS(), pub_options);
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It looks like SensorDataQoS sets the "depth" (number of messages to hang on to in case publishing gets backed up) to 5. If there's not a good reason to change it, I'd prefer to keep it to 10 (see the original create_publisher call). There are also some other QoS settings that differ in SensorDataQoS from just what you get if you just pass in the depth as a number. I think that for this PR, it would be better not to change those. You could do so in a separate PR, but we'd want to go over each element of the QoS struct and discuss why it should be changed.

} else {
cloud_pub_ = this->create_publisher<sensor_msgs::msg::PointCloud2>("cloud_filtered",
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Same thing - prefer not to change QoS in this PR unless there is a strong reason

rclcpp::SensorDataQoS());
scan_sub_.subscribe(this, "scan", rmw_qos_profile_sensor_data);
}
#else
cloud_pub_ = this->create_publisher<sensor_msgs::msg::PointCloud2>(
"cloud_filtered", rclcpp::SensorDataQoS());
scan_sub_.subscribe(this, "scan", rmw_qos_profile_sensor_data);
#endif

cloud_filter_chain_.configure(
"cloud_filter_chain",
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5 changes: 4 additions & 1 deletion src/scan_to_cloud_filter_chain.hpp
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Expand Up @@ -62,14 +62,17 @@ class ScanToCloudFilterChain : public rclcpp::Node
tf2_ros::Buffer buffer_;
tf2_ros::TransformListener tf_;

message_filters::Subscriber<sensor_msgs::msg::LaserScan> sub_;
message_filters::Subscriber<sensor_msgs::msg::LaserScan> scan_sub_;
tf2_ros::MessageFilter<sensor_msgs::msg::LaserScan> filter_;

filters::FilterChain<sensor_msgs::msg::PointCloud2> cloud_filter_chain_;
filters::FilterChain<sensor_msgs::msg::LaserScan> scan_filter_chain_;
rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr cloud_pub_;

// Parameters
#ifndef IS_HUMBLE
bool lazy_subscription_;
#endif
bool high_fidelity_; // High fidelity (interpolating time across scan)
double tf_tolerance_;
std::string target_frame_; // Target frame for high fidelity result
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33 changes: 30 additions & 3 deletions src/scan_to_scan_filter_chain.cpp
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Expand Up @@ -38,7 +38,6 @@ ScanToScanFilterChain::ScanToScanFilterChain(
: rclcpp::Node("scan_to_scan_filter_chain", ns, options),
tf_(NULL),
buffer_(this->get_clock()),
scan_sub_(this, "scan", rmw_qos_profile_sensor_data),
tf_filter_(NULL),
filter_chain_("sensor_msgs::msg::LaserScan")
{
Expand All @@ -51,10 +50,16 @@ ScanToScanFilterChain::ScanToScanFilterChain(
read_only_desc.read_only = true;

// Declare parameters
#ifndef IS_HUMBLE
this->declare_parameter("lazy_subscription", false, read_only_desc);
#endif
this->declare_parameter("tf_message_filter_target_frame", "", read_only_desc);
this->declare_parameter("tf_message_filter_tolerance", 0.03, read_only_desc);

// Get parameters
#ifndef IS_HUMBLE
this->get_parameter("lazy_subscription", lazy_subscription_);
#endif
this->get_parameter("tf_message_filter_target_frame", tf_message_filter_target_frame_);
this->get_parameter("tf_message_filter_tolerance", tf_filter_tolerance_);

Expand All @@ -80,8 +85,30 @@ ScanToScanFilterChain::ScanToScanFilterChain(
std::placeholders::_1));
}

// Advertise output
output_pub_ = this->create_publisher<sensor_msgs::msg::LaserScan>("scan_filtered", 1000);
#ifndef IS_HUMBLE
if (lazy_subscription_) {
rclcpp::PublisherOptions pub_options;
pub_options.event_callbacks.matched_callback =
[this](rclcpp::MatchedInfo & s)
{
if (s.current_count == 0) {
scan_sub_.unsubscribe();
} else if (!scan_sub_.getSubscriber()) {
scan_sub_.subscribe(this, "scan", rmw_qos_profile_sensor_data);
}
};
output_pub_ = this->create_publisher<sensor_msgs::msg::LaserScan>("scan_filtered",
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Same thing as in the scan_to_cloud_filter_chain.cpp - I'd prefer we just pass in 1000 as the QoS for this PR.

rclcpp::SensorDataQoS(), pub_options);
} else {
output_pub_ = this->create_publisher<sensor_msgs::msg::LaserScan>("scan_filtered",
rclcpp::SensorDataQoS());
scan_sub_.subscribe(this, "scan", rmw_qos_profile_sensor_data);
}
#else
output_pub_ = this->create_publisher<sensor_msgs::msg::LaserScan>(
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Same

"scan_filtered", rclcpp::SensorDataQoS());
scan_sub_.subscribe(this, "scan", rmw_qos_profile_sensor_data);
#endif
}

// Destructor
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3 changes: 3 additions & 0 deletions src/scan_to_scan_filter_chain.hpp
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Expand Up @@ -58,6 +58,9 @@ class ScanToScanFilterChain : public rclcpp::Node
rclcpp::Publisher<sensor_msgs::msg::LaserScan>::SharedPtr output_pub_;

// Parameters
#ifndef IS_HUMBLE
bool lazy_subscription_;
#endif
std::string tf_message_filter_target_frame_;
double tf_filter_tolerance_;

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