Method Publisher

pose_graph/src/pose_graph/Publisher.cpp:24–44

#include "utils/Utils.h"

Publisher::Publisher(std::shared_ptr<rclcpp::Node> node, bool debug_mode) : node_(node), debug_mode_(debug_mode) {
  // Publishers
  // pub_matched_points_ = node_->create_publisher<sensor_msgs::msg::PointCloud>("match_points", 100);
  pub_gloal_map_ = node_->create_publisher<sensor_msgs::msg::PointCloud2>("global_map", 2);

  pub_robust_path_ = node_->create_publisher<nav_msgs::msg::Path>("uber_path", 2);
  pub_robust_odometry_ = node_->create_publisher<nav_msgs::msg::Odometry>("uber_odometry", 2);

  if (debug_mode_) {
    pub_primitive_estimator_path_ = node_->create_publisher<nav_msgs::msg::Path>("primitive_estimator_path", 2);
    pub_primitive_odometry_ = node_->create_publisher<nav_msgs::msg::Odometry>("prim_odometry", 2);
  }

  pub_loop_closure_path_ = node_->create_publisher<nav_msgs::msg::Path>("loop_closure_path", 100);
  // pub_kf_connections_ = nh.advertise<visualization_msgs::msg::MarkerArray>("kf_connections", 1000);

  camera_pose_visualizer_ = std::make_unique<CameraPoseVisualization>(1.0, 0.0, 0.0, 1.0);
  camera_pose_visualizer_->setScale(0.4);
  camera_pose_visualizer_->setLineWidth(0.04);
  pub_visualization_ = node_->create_publisher<visualization_msgs::msg::MarkerArray>("visualization", 100);
}

// void Publisher::kfMatchedPointCloudCallback(const sensor_msgs::msg::PointCloud& msg) {
//   pub_matched_points_->publish(msg);