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pele1410 wants to merge 3 commits into from
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Add subscription options to odometry subscriptions (main) #4968

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66bb146
Add subscription options to odometry subscriptions
Mar 6, 2025
b8faa4f
Merge branch 'ros-navigation:main' into main
pele1410 Apr 18, 2025
8f9c5c0
Merge branch 'ros-navigation:main' into main
JayHerpin Jun 21, 2025
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9 changes: 7 additions & 2 deletions nav2_dwb_controller/nav_2d_utils/include/nav_2d_utils/odom_subscriber.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -42,8 +42,9 @@
#include "nav_2d_msgs/msg/twist2_d_stamped.hpp"
#include "nav_msgs/msg/odometry.hpp"
#include "nav2_util/lifecycle_node.hpp"
#include "rclcpp/rclcpp.hpp"
#include "nav2_util/node_utils.hpp"
#include "rclcpp/rclcpp.hpp"
#include "rclcpp/subscription_options.hpp"

namespace nav_2d_utils
{
Expand All @@ -70,11 +71,15 @@ class OdomSubscriber

std::string odom_topic;
nh->get_parameter_or("odom_topic", odom_topic, default_topic);

rclcpp::SubscriptionOptions sub_options;
sub_options.qos_overriding_options = rclcpp::QosOverridingOptions::with_default_policies();
odom_sub_ =
nh->create_subscription<nav_msgs::msg::Odometry>(
odom_topic,
rclcpp::SystemDefaultsQoS(),
std::bind(&OdomSubscriber::odomCallback, this, std::placeholders::_1));
std::bind(&OdomSubscriber::odomCallback, this, std::placeholders::_1),
sub_options);
}

inline nav_2d_msgs::msg::Twist2D getTwist() {return odom_vel_.velocity;}
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13 changes: 11 additions & 2 deletions nav2_util/src/odometry_utils.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -16,6 +16,7 @@
#include <string>

#include "nav2_util/odometry_utils.hpp"
#include "rclcpp/subscription_options.hpp"

using namespace std::chrono; // NOLINT
using namespace std::chrono_literals; // NOLINT
Expand All @@ -30,10 +31,14 @@ OdomSmoother::OdomSmoother(
: received_odom_(false), odom_history_duration_(rclcpp::Duration::from_seconds(filter_duration))
{
auto node = parent.lock();

rclcpp::SubscriptionOptions sub_options;
sub_options.qos_overriding_options = rclcpp::QosOverridingOptions::with_default_policies();
odom_sub_ = node->create_subscription<nav_msgs::msg::Odometry>(
odom_topic,
rclcpp::SystemDefaultsQoS(),
std::bind(&OdomSmoother::odomCallback, this, std::placeholders::_1));
std::bind(&OdomSmoother::odomCallback, this, std::placeholders::_1),
sub_options);

odom_cumulate_.twist.twist.linear.x = 0;
odom_cumulate_.twist.twist.linear.y = 0;
Expand All @@ -50,10 +55,14 @@ OdomSmoother::OdomSmoother(
: odom_history_duration_(rclcpp::Duration::from_seconds(filter_duration))
{
auto node = parent.lock();

rclcpp::SubscriptionOptions sub_options;
sub_options.qos_overriding_options = rclcpp::QosOverridingOptions::with_default_policies();
odom_sub_ = node->create_subscription<nav_msgs::msg::Odometry>(
odom_topic,
rclcpp::SystemDefaultsQoS(),
std::bind(&OdomSmoother::odomCallback, this, std::placeholders::_1));
std::bind(&OdomSmoother::odomCallback, this, std::placeholders::_1),
sub_options);

odom_cumulate_.twist.twist.linear.x = 0;
odom_cumulate_.twist.twist.linear.y = 0;
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