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merged master->ros2

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This commit is contained in:
matlabbe
2024-05-27 12:37:39 -07:00
parent 655ab10fc8 86f91f3cec
commit 0dc233c840
14 changed files with 89 additions and 39 deletions
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.github/workflows/docker.yml
+1 -2
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@@ -22,18 +22,17 @@ jobs:
docker_platforms: |
linux/amd64
linux/arm64
# linux/arm/v7
- docker_tag: noetic
docker_path: 'noetic'
docker_platforms: |
linux/amd64
linux/arm64
# linux/arm/v7
- docker_tag: noetic-latest
docker_path: 'noetic/latest'
docker_platforms: |
linux/amd64
linux/arm64
linux/arm/v7
steps:
-
.github/workflows/scheduled-stats.yml
+16
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@@ -0,0 +1,16 @@
name: RTAB-Map ROS Scheduled Stats Extraction From GitHub
on:
workflow_dispatch:
schedule:
- cron: '0 5 * * *'
jobs:
get_stats:
runs-on: ubuntu-latest
steps:
- name: Update Stats
uses: introlab/github-stats-action@v1
with:
github-stats-token: ${{ secrets.STATS_TOKEN }}
google-application-credentials: ${{ secrets.GOOGLE_APPLICATION_CREDENTIALS }}
spreadsheet-id: ${{ secrets.SPREADSHEET_ID }}
docker/noetic/latest/Dockerfile
+10 -2
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@@ -7,7 +7,15 @@ RUN source /ros_entrypoint.sh && \
COPY . catkin_ws/src/rtabmap_ros
RUN source /ros_entrypoint.sh && \
RUN if [ "$TARGETPLATFORM" = "linux/arm/v7" ]; then \
source /ros_entrypoint.sh && \
cd catkin_ws && \
catkin_make -j1 -DRTABMAP_SYNC_MULTI_RGBD=ON -DCMAKE_INSTALL_PREFIX=/opt/ros/noetic install && \
cd && \
rm -rf catkin_ws ;fi
RUN if [ "$TARGETPLATFORM" != "linux/arm/v7" ]; then \
source /ros_entrypoint.sh && \
cd catkin_ws && \
apt update && \
rosdep install --from-paths src --ignore-src -y && \
@@ -15,4 +23,4 @@ RUN source /ros_entrypoint.sh && \
apt-get clean && rm -rf /var/lib/apt/lists/ && \
catkin_make -j1 -DRTABMAP_SYNC_MULTI_RGBD=ON -DCMAKE_INSTALL_PREFIX=/opt/ros/noetic install && \
cd && \
rm -rf catkin_ws
rm -rf catkin_ws ;fi
docker/noetic/superpoint/Dockerfile
+1 -1
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@@ -50,7 +50,7 @@ RUN apt update && \
# Install ros dependencies
RUN apt-get update && \
apt upgrade -y && \
apt-get install -y git ros-noetic-ros-base python3-catkin-tools python3-rosdep build-essential ros-noetic-rtabmap-ros ros-noetic-pybind11-catkin && \
apt-get install -y git ros-noetic-ros-base python3-catkin-tools python3-rosdep build-essential ros-noetic-rtabmap-ros ros-noetic-pybind11-catkin ros-noetic-image-transport-plugins ros-noetic-stereo-image-proc && \
apt-get remove -y ros-noetic-rtabmap && \
rosdep init && \
apt-get clean && rm -rf /var/lib/apt/lists/
rtabmap_conversions/include/rtabmap_conversions/MsgConversion.h
+4 -4
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@@ -209,11 +209,11 @@ rtabmap::Transform getTransform(
// get moving transform accordingly to a fixed frame. For example get
// transform of /base_link between two stamps accordingly to /odom frame.
rtabmap::Transform getTransform(
const std::string & sourceTargetFrame,
rtabmap::Transform getMovingTransform(
const std::string & movingFrame,
const std::string & fixedFrame,
const rclcpp::Time & stampSource,
const rclcpp::Time & stampTarget,
const ros::Time & stampFrom,
const ros::Time & stampTo,
tf2_ros::Buffer & tfBuffer,
double waitForTransform);
rtabmap_conversions/src/MsgConversion.cpp
+21 -21
View File
@@ -1944,11 +1944,11 @@ rtabmap::Landmarks landmarksFromROS(
if(!baseToTag.isNull())
{
// Correction of the global pose accounting the odometry movement since we received it
rtabmap::Transform correction = rtabmap_conversions::getTransform(
rtabmap::Transform correction = rtabmap_conversions::getMovingTransform(
frameId,
odomFrameId,
iter->second.first.header.stamp,
odomStamp,
iter->second.first.header.stamp,
listener,
waitForTransform);
if(!correction.isNull())
@@ -2005,11 +2005,11 @@ rtabmap::Transform getTransform(
// get moving transform accordingly to a fixed frame. For example get
// transform between moving /base_link between two stamps accordingly to /odom frame.
rtabmap::Transform getTransform(
const std::string & sourceTargetFrame,
rtabmap::Transform getMovingTransform(
const std::string & movingFrame,
const std::string & fixedFrame,
const rclcpp::Time & stampSource,
const rclcpp::Time & stampTarget,
const ros::Time & stampFrom,
const ros::Time & stampTo,
tf2_ros::Buffer & tfBuffer,
double waitForTransform)
{
@@ -2018,12 +2018,12 @@ rtabmap::Transform getTransform(
try
{
geometry_msgs::msg::TransformStamped tmp;
tmp = tfBuffer.lookupTransform(sourceTargetFrame, tf2_ros::fromMsg(stampTarget), sourceTargetFrame, tf2_ros::fromMsg(stampSource), fixedFrame, tf2::durationFromSec(waitForTransform));
tmp = tfBuffer.lookupTransform(movingFrame, tf2_ros::fromMsg(stampFrom), movingFrame, tf2_ros::fromMsg(stampTo), fixedFrame, tf2::durationFromSec(waitForTransform));
transform = rtabmap_conversions::transformFromGeometryMsg(tmp.transform);
}
catch(tf2::TransformException & ex)
{
UWARN("(getting transform movement of %s according to fixed %s) %s", sourceTargetFrame.c_str(), fixedFrame.c_str(), ex.what());
UWARN("(getting transform movement of %s according to fixed %s) %s", movingFrame.c_str(), fixedFrame.c_str(), ex.what());
}
return transform;
}
@@ -2175,7 +2175,7 @@ bool convertRGBDMsgs(
// sync with odometry stamp
if(!odomFrameId.empty() && odomStamp != stamp)
{
rtabmap::Transform sensorT = getTransform(
rtabmap::Transform sensorT = getMovingTransform(
frameId,
odomFrameId,
odomStamp,
@@ -2491,7 +2491,7 @@ bool convertStereoMsg(
// sync with odometry stamp
if(!odomFrameId.empty() && odomStamp != leftImageMsg->header.stamp)
{
rtabmap::Transform sensorT = getTransform(
rtabmap::Transform sensorT = getMovingTransform(
frameId,
odomFrameId,
odomStamp,
@@ -2589,7 +2589,7 @@ bool convertScanMsg(
bool outputInFrameId)
{
// make sure the frame of the laser is updated during the whole scan time
rtabmap::Transform tmpT = getTransform(
rtabmap::Transform tmpT = getMovingTransform(
scan2dMsg.header.frame_id,
odomFrameId.empty()?frameId:odomFrameId,
rclcpp::Time(scan2dMsg.header.stamp.sec, scan2dMsg.header.stamp.nanosec),
@@ -2632,7 +2632,7 @@ bool convertScanMsg(
// sync with odometry stamp
if(!odomFrameId.empty() && odomStamp != scan2dMsg.header.stamp)
{
rtabmap::Transform sensorT = getTransform(
rtabmap::Transform sensorT = getMovingTransform(
frameId,
odomFrameId,
odomStamp,
@@ -2744,7 +2744,7 @@ bool convertScan3dMsg(
// sync with odometry stamp
if(!odomFrameId.empty() && odomStamp != scan3dMsg.header.stamp)
{
rtabmap::Transform sensorT = getTransform(
rtabmap::Transform sensorT = getMovingTransform(
frameId,
odomFrameId,
odomStamp,
@@ -3086,18 +3086,18 @@ bool deskew_impl(
{
if(tfBuffer != 0)
{
firstPose = rtabmap_conversions::getTransform(
firstPose = rtabmap_conversions::getMovingTransform(
input.header.frame_id,
fixedFrameId,
firstStamp,
input.header.stamp,
firstStamp,
*tfBuffer,
0);
lastPose = rtabmap_conversions::getTransform(
lastPose = rtabmap_conversions::getMovingTransform(
input.header.frame_id,
fixedFrameId,
lastStamp,
input.header.stamp,
lastStamp,
*tfBuffer,
0);
}
@@ -3183,11 +3183,11 @@ bool deskew_impl(
}
else
{
transform = rtabmap_conversions::getTransform(
transform = rtabmap_conversions::getMovingTransform(
output.header.frame_id,
fixedFrameId,
stamp,
output.header.stamp,
stamp,
*tfBuffer,
0);
if(transform.isNull())
@@ -3262,11 +3262,11 @@ bool deskew_impl(
}
else
{
transform = rtabmap_conversions::getTransform(
transform = rtabmap_conversions::getMovingTransform(
output.header.frame_id,
fixedFrameId,
stamp,
output.header.stamp,
stamp,
*tfBuffer,
0);
if(transform.isNull())
rtabmap_odom/src/RGBDOdometryNode.cpp
+6
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@@ -27,6 +27,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap_odom/rgbd_odometry.hpp"
#include "rclcpp/rclcpp.hpp"
#ifdef RTABMAP_PYTHON
#include <rtabmap/core/PythonInterface.h>
#endif
int main(int argc, char **argv)
@@ -67,6 +70,9 @@ int main(int argc, char **argv)
arguments.push_back(argv[i]);
}
#ifdef RTABMAP_PYTHON
rtabmap::PythonInterface pythonInterface;
#endif
rclcpp::init(argc, argv);
rclcpp::NodeOptions options;
options.arguments(arguments);
rtabmap_odom/src/StereoOdometryNode.cpp
+6
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@@ -27,6 +27,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap_odom/stereo_odometry.hpp"
#include "rclcpp/rclcpp.hpp"
#ifdef RTABMAP_PYTHON
#include <rtabmap/core/PythonInterface.h>
#endif
int main(int argc, char **argv)
{
@@ -67,6 +70,9 @@ int main(int argc, char **argv)
}
#ifdef RTABMAP_PYTHON
rtabmap::PythonInterface pythonInterface;
#endif
rclcpp::init(argc, argv);
rclcpp::NodeOptions options;
options.arguments(arguments);
rtabmap_odom/src/nodelets/icp_odometry.cpp
+1 -1
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@@ -300,7 +300,7 @@ void ICPOdometry::callbackScan(const sensor_msgs::msg::LaserScan::SharedPtr scan
if(deskewing_ && (!guessFrameId().empty() || (frameId().compare(scanMsg->header.frame_id) != 0)))
{
// make sure the frame of the laser is updated during the whole scan time
rtabmap::Transform tmpT = rtabmap_conversions::getTransform(
rtabmap::Transform tmpT = rtabmap_conversions::getMovingTransform(
scanMsg->header.frame_id,
guessFrameId().empty()?frameId():guessFrameId(),
scanMsg->header.stamp,
rtabmap_slam/src/CoreWrapper.cpp
+2 -2
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@@ -1944,11 +1944,11 @@ void CoreWrapper::process(
globalPose *= sensorToBase; // transform global pose from sensor frame to robot base frame
// Correction of the global pose accounting the odometry movement since we received it
Transform correction = rtabmap_conversions::getTransform(
Transform correction = rtabmap_conversions::getMovingTransform(
frameId_,
odomFrameId,
rclcpp::Time(globalPose_.header.stamp.sec, globalPose_.header.stamp.nanosec),
lastPoseStamp_,
rclcpp::Time(globalPose_.header.stamp.sec, globalPose_.header.stamp.nanosec),
*tfBuffer_,
waitForTransform_);
if(!correction.isNull())
rtabmap_util/scripts/yaml_to_camera_info.py
+16 -1
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@@ -8,7 +8,7 @@ from sensor_msgs.msg import Image
def yaml_to_CameraInfo(yaml_fname):
with open(yaml_fname, "r") as file_handle:
calib_data = yaml.load(file_handle)
calib_data = yaml.load(file_handle, Loader=yaml.FullLoader)
msg = CameraInfo()
msg.width = calib_data["image_width"]
@@ -26,7 +26,9 @@ class YamlToCameraInfo(Node):
super().__init__('yaml_to_camera_info')
self.declare_parameter('yaml_path', '')
self.declare_parameter('scale', 1.0)
yaml_path = self.get_parameter('yaml_path').get_parameter_value().string_value
scale = self.get_parameter('scale').get_parameter_value().double_value
if not yaml_path:
print('yaml_path parameter should be set to path of the calibration file!')
@@ -37,6 +39,19 @@ class YamlToCameraInfo(Node):
self.camera_info_msg = yaml_to_CameraInfo(yaml_path)
if scale!=1.0:
self.camera_info_msg.k[0] = self.camera_info_msg.k[0]*scale
self.camera_info_msg.k[2] = self.camera_info_msg.k[2]*scale
self.camera_info_msg.k[4] = self.camera_info_msg.k[4]*scale
self.camera_info_msg.k[5] = self.camera_info_msg.k[5]*scale
self.camera_info_msg.p[0] = self.camera_info_msg.p[0]*scale
self.camera_info_msg.p[2] = self.camera_info_msg.p[2]*scale
self.camera_info_msg.p[3] = self.camera_info_msg.p[3]*scale
self.camera_info_msg.p[5] = self.camera_info_msg.p[5]*scale
self.camera_info_msg.p[6] = self.camera_info_msg.p[6]*scale
self.camera_info_msg.width = int(self.camera_info_msg.width*scale)
self.camera_info_msg.height = int(self.camera_info_msg.height*scale)
self.publisher_ = self.create_publisher(CameraInfo, 'camera_info', 1)
self.subscription = self.create_subscription(
Image,
rtabmap_util/src/nodelets/lidar_deskewing.cpp
+1 -1
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@@ -51,7 +51,7 @@ LidarDeskewing::~LidarDeskewing()
void LidarDeskewing::callbackScan(const sensor_msgs::msg::LaserScan::ConstSharedPtr msg)
{
// make sure the frame of the laser is updated during the whole scan time
rtabmap::Transform tmpT = rtabmap_conversions::getTransform(
rtabmap::Transform tmpT = rtabmap_conversions::getMovingTransform(
msg->header.frame_id,
fixedFrameId_,
msg->header.stamp,
rtabmap_util/src/nodelets/point_cloud_aggregator.cpp
+2 -2
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@@ -289,11 +289,11 @@ void PointCloudAggregator::combineClouds(const std::vector<sensor_msgs::msg::Poi
cloudMsgs[0]->header.stamp != cloudMsgs[i]->header.stamp)
{
// approx sync
cloudDisplacement = rtabmap_conversions::getTransform(
cloudDisplacement = rtabmap_conversions::getMovingTransform(
frameId, //sourceTargetFrame
fixedFrameId_, //fixedFrame
cloudMsgs[i]->header.stamp, //stampSource
cloudMsgs[0]->header.stamp, //stampTarget
cloudMsgs[i]->header.stamp, //stampSource
*tfBuffer_,
waitForTransform_);
}
rtabmap_util/src/nodelets/pointcloud_to_depthimage.cpp
+2 -2
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@@ -138,11 +138,11 @@ void PointCloudToDepthImage::callback(
if(!fixedFrameId_.empty())
{
// approx sync
cloudDisplacement = rtabmap_conversions::getTransform(
cloudDisplacement = rtabmap_conversions::getMovingTransform(
pointCloud2Msg->header.frame_id,
fixedFrameId_,
cameraInfoMsg->header.stamp,
pointCloud2Msg->header.stamp,
cameraInfoMsg->header.stamp,
*tfBuffer_,
waitForTransform_);
}