`isaac_ros_nitros_topic_tools`#

Source code available on GitHub.

isaac_ros_nitros_topic_tools contains NITROS based nodes that synchronize the input topics using message_filters::sync_policies::ExactTime and filter the rate of synchronized data. The nodes are based on the implementation of topic_tools package.

The package has implementations for the following filters:

NitrosCameraDrop - Synchronizes monocular, stereo or depth images and camera_info messages. And drops X out of Y synchronized messages received.

Visit isaac_ros_nitros_topic_tools.

NitrosCameraDrop Node#

Usage#

Launch File	Components Used
`isaac_ros_nitros_camera_drop.launch.py`	NitrosCameraDropNode

ROS Parameters#

ROS Parameter	Type	Default	Description
`mode`	`string`	`mono`	The synchronization mode decides which all topics to subscribe to. Option are: `mono`, `stereo` or `mono+depth`.
`X`	`int`	`15`	Number of messages to be dropped. The node drops X out of Y messages.
`Y`	`int`	`30`	Number of messages expected in a set. The node drops X out of Y messages.
`use_wall_clock`	`bool`	`False`	Flag to choose whether to use `rclcpp::Clock{}.now()` to get the clock time. If set to `False`, the node will use `node.now()` to get the clock time.
`sync_queue_size`	`int`	`10`	The size of the synchronizer queue.
`input_queue_size`	`int`	`10`	The size of the input queue.
`output_queue_size`	`int`	`10`	The size of the output queue.
`input_qos`	`string`	`DEFAULT`	The quality of service for the input topics. Option are: `SYSTEM_DEFAULT`, `DEFAULT`, `PARAMETER_EVENTS`, `SERVICES_DEFAULT`, `PARAMETERS` or `SENSOR_DATA`.
`output_qos`	`string`	`DEFAULT`	The quality of service for the output topics. Option are: `SYSTEM_DEFAULT`, `DEFAULT`, `PARAMETER_EVENTS`, `SERVICES_DEFAULT`, `PARAMETERS` or `SENSOR_DATA`.
`depth_format_string`	`string`	`nitros_image_32FC1`	The NITROS format format for the depth image topic if using mode `mono+depth`.

ROS Topics Subscribed#

ROS Topic	Interface	Description
`image_1`	sensor_msgs/Image	The input image 1. Subscribed in all modes.
`camera_info_1`	sensor_msgs/CameraInfo	The input image 1 camera_info. Subscribed in all modes.
`image_2`	sensor_msgs/Image	The input image 2. Subscribed only in `stereo` mode.
`camera_info_2`	sensor_msgs/CameraInfo	The input image 2 camera_info. Subscribed only in `stereo` mode.
`depth_1`	sensor_msgs/Image	The input depth image. Subscribed only in `mono+depth` mode.

ROS Topics Published#

ROS Topic	Interface	Description
`image_1_drop`	sensor_msgs/Image	The input image 1. Published in all modes.
`camera_info_1_drop`	sensor_msgs/CameraInfo	The input image 1 camera_info. Published in all modes.
`image_2_drop`	sensor_msgs/Image	The input image 2. Published only in `stereo` mode.
`camera_info_2_drop`	sensor_msgs/CameraInfo	The input image 2 camera_info. Published only in `stereo` mode.
`depth_1_drop`	sensor_msgs/Image	The input depth image. Published only in `mono+depth` mode.