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<add>1.Add dev_status.csv for device & data tx rx rate monitor;

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2. Add high frequency odom data ;
 3. Add image undistort functionality;
 4. optimized data publish pipeline
 5. other optimizations
This commit is contained in:
mt-lifan
2025-09-28 19:19:07 +08:00
parent 97686cc034
commit 7d738e12f8
18 changed files with 1246 additions and 291 deletions
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include/depth_image_ros_node.hpp
+4 -2
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@@ -48,14 +48,16 @@ private:
std::string cloud_raw_topic_;
std::string color_raw_topic_;
std::string color_compressed_topic_;
std::string depth_image_topic_;
std::string depth_cloud_topic_;
message_filters::Subscriber<sensor_msgs::PointCloud2> cloud_sub_;
message_filters::Subscriber<sensor_msgs::Image> color_sub_;
message_filters::Subscriber<sensor_msgs::CompressedImage> color_compressed_sub_;
typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::PointCloud2, sensor_msgs::CompressedImage> MySyncPolicy;
typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::PointCloud2, sensor_msgs::Image> MySyncPolicy;
typedef message_filters::Synchronizer<MySyncPolicy> Sync;
std::shared_ptr<Sync> sync_;
@@ -68,7 +70,7 @@ private:
void syncCallback(const sensor_msgs::PointCloud2ConstPtr &cloud_msg,
const sensor_msgs::CompressedImageConstPtr &image_msg);
const sensor_msgs::ImageConstPtr &image_msg);
void publishDepthImage(const cv::Mat &img,