isaac_ros_nitros_topic_tools

Source code 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 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.