| 36 | namespace rko_lio::ros { |
| 37 | |
| 38 | ThreadedNode::ThreadedNode(const std::string& node_name, const rclcpp::NodeOptions& options) : BaseNode(node_name, options) { |
| 39 | max_lidar_buffer_size = static_cast<size_t>(node->declare_parameter<int>( |
| 40 | "async.max_lidar_buffer_size", static_cast<int>(max_lidar_buffer_size))); |
| 41 | registration_thread = std::jthread([this]() { registration_loop(); }); |
| 42 | } |
| 43 | |
| 44 | void ThreadedNode::imu_callback(const sensor_msgs::msg::Imu::ConstSharedPtr& imu_msg) { |
| 45 | if (!ensure_frame_and_extrinsics(imu_frame, imu_msg->header.frame_id, "IMU")) { |
nothing calls this directly
no outgoing calls
no test coverage detected