Method Publisher

okvis_ros/src/Publisher.cpp:87–111

Constructor. Calls setNodeHandle().

// Constructor. Calls setNodeHandle().
Publisher::Publisher(std::shared_ptr<rclcpp::Node> node) : node_(node), pubTf_(node), image_transport_(node) {
  // pubStereoMatched_ = nh_->advertise<sensor_msgs::PointCloud2>("okvis_stereo_matched", 1);   // Sharmin
  pubKeyframeImageL_ = node_->create_publisher<sensor_msgs::msg::Image>("keyframe_imageL", 10);      // Sharmin
  pubKeyframePose_ = node_->create_publisher<nav_msgs::msg::Odometry>("keyframe_pose", 10);          // Sharmin
  pubKeyframePoints_ = node_->create_publisher<sensor_msgs::msg::PointCloud>("keyframe_points", 1);  // Sharmin
  pubSvinHealth = node_->create_publisher<okvis_ros::msg::SvinHealth>("svin_health", 1);  // Sharmin: SVIN health

  pubPointsMatched_ = node_->create_publisher<sensor_msgs::msg::PointCloud2>("okvis_points_matched", 1);
  pubPointsUnmatched_ = node_->create_publisher<sensor_msgs::msg::PointCloud2>("okvis_points_unmatched", 1);
  pubPointsTransferred_ = node_->create_publisher<sensor_msgs::msg::PointCloud2>("okvis_points_transferred", 1);
  pubObometry_ = node_->create_publisher<nav_msgs::msg::Odometry>("okvis_odometry", 1);
  pubPath_ = node_->create_publisher<nav_msgs::msg::Path>("okvis_path", 1);
  pubTransform_ = node_->create_publisher<geometry_msgs::msg::TransformStamped>("okvis_transform", 1);
  pubMesh_ = node_->create_publisher<visualization_msgs::msg::Marker>("okvis_mesh", 0);
  // where to get the mesh from
  std::string mesh_file;
  if (node_->get_parameter("mesh_file", mesh_file)) {
    meshMsg_.mesh_resource = "package://okvis_ros/meshes/" + mesh_file;
  } else {
    LOG(INFO) << "no mesh found for visualisation, set ros param mesh_file, if desired";
    meshMsg_.mesh_resource = "";
  }

  static_tf_published_ = false;
}

void Publisher::publishKeyframeAsCallback(const okvis::Time& t,
                                          const cv::Mat& imageL,