mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-05 01:07:49 +08:00
rtabmap_odom tests and doc (#1456)
* rtabmap_odom tests and doc * opengv note * added ci checks or humble-latest flaky dep cmake errors * Added real data tests for rgbd_odom and stereo_odom * added real data for icp_odometry's deskewing test * fixing json cmake error on lyrical/rolling * test 2d icp odom deskewing branch * first review of existing OdometryROS tests * testing with imu used as guess * tested imu arrivals sync * Fixed odom reset on right pose when guess frame id is used * fixing header errors in ci >=lyrical * Added support for input rgbd_image topic with features for odom, added multicam rgbd_odometry test * Added stereo odom support for features-only frames. Added multicam stereo tests. * forcing latest rtabmap version * updated OdometryROS API * ci: dont build non-latest docker in pull requests * splitting docker jobs * doc edit * Making publish_null_when_lost:=false continous when guess is provided (using guess covariance when we cannot register yet) * updated stereo doc * ficing rolling ci (rviz Ogre header) * Added test coverage of alll rgbd_image callbacks * fixing rolling ci * making docker ci build/run the tests on pull requests * fixing ros2 ci testing * improved sync callback coverage * improving stereo_odometry test coverage * improved icp_odometry test coverage * lyrical voxel_grid ptr error * make multicam tests working as well without opengv * removing deps of missing packages on rolling * PCL empty cloud conversion compiler errors fix * fixing icp_odometry test failure on ci witohut libpointmatcher * fixing nav2 costmap plugin build on lyrical * joining thread when exiting * updating icp test to work the same on pcl 1.15 (lyrical) * Fix parallel tests seg fault --------- Co-authored-by: mathieu86 <[email protected]>
This commit is contained in:
matlabbe
@@ -60,7 +60,7 @@ jobs:
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# tested package depends on them (--packages-up-to), just not measured.
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- uses: ros-tooling/[email protected]
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with:
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package-name: rtabmap_conversions rtabmap_util rtabmap_sync rtabmap_python
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package-name: rtabmap_conversions rtabmap_util rtabmap_sync rtabmap_odom rtabmap_python
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target-ros2-distro: humble
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# RTAB-Map is installed in the image, not as an apt package, so rosdep
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# cannot resolve the key and must not try.
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@@ -120,7 +120,7 @@ jobs:
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. /opt/ros/humble/setup.sh
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# C++ packages only -- rtabmap_python emits no .gcno for lcov to read,
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# and is measured by the coveragepy step below instead.
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PKGS="rtabmap_conversions rtabmap_util rtabmap_sync"
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PKGS="rtabmap_conversions rtabmap_util rtabmap_sync rtabmap_odom"
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# Baseline from the .gcno files. Without it a source file that no test
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# ever loaded is missing from the report altogether rather than
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# counted as 0%, which quietly inflates the result.
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@@ -12,56 +12,37 @@ concurrency:
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cancel-in-progress: ${{ github.event_name == 'pull_request' }}
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jobs:
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# Images built from this tree (docker/*/latest), the ones a change here can break.
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docker:
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# A manual dispatch is honored only on ros2, the only ref we push from.
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if: ${{ github.event_name != 'workflow_dispatch' || github.ref == 'refs/heads/ros2' }}
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runs-on: ubuntu-latest
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strategy:
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fail-fast: false
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matrix:
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docker_tag: [humble, humble-latest, jazzy, jazzy-latest, kilted, kilted-latest, lyrical-latest]
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docker_tag: [humble-latest, jazzy-latest, kilted-latest, lyrical-latest]
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include:
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- docker_tag: humble
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docker_path: 'humble'
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docker_platforms: |
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linux/amd64
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- docker_tag: humble-latest
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docker_path: 'humble/latest'
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docker_platforms: |
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linux/amd64
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linux/arm64
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- docker_tag: jazzy
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docker_path: 'jazzy'
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docker_platforms: |
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linux/amd64
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linux/arm64
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- docker_tag: jazzy-latest
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docker_path: 'jazzy/latest'
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docker_platforms: |
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linux/amd64
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linux/arm64
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- docker_tag: kilted
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docker_path: 'kilted'
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docker_platforms: |
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linux/amd64
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linux/arm64
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- docker_tag: kilted-latest
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docker_path: 'kilted/latest'
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docker_platforms: |
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linux/amd64
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#Disabled till rtabmap_ros is released on lyrical
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#- docker_tag: lyrical
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# docker_path: 'lyrical'
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# docker_platforms: |
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# linux/amd64
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# linux/arm64
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- docker_tag: lyrical-latest
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docker_path: 'lyrical/latest'
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docker_platforms: |
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linux/amd64
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linux/arm64
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steps:
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-
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name: Checkout
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@@ -90,8 +71,73 @@ jobs:
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context: .
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push: ${{ github.event_name != 'pull_request' }}
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platforms: ${{ github.event_name == 'pull_request' && 'linux/amd64' || matrix.docker_platforms }}
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# Run the test suites inside the image being built. Nothing of them is kept, and
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# the build fails if one does, so no image is published from a tree that fails.
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build-args: |
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RUN_TESTS=1
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file: ./docker/${{ matrix.docker_path }}/Dockerfile
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tags: introlab3it/rtabmap_ros:${{ matrix.docker_tag }}
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no-cache: true
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cache-to: type=inline
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# Images that install a released rtabmap_ros from apt (docker/<distro>): they hold
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# nothing from the tree under review, so building them on a pull request would only
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# report that the release still installs. Left to the pushes that publish them.
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docker-released:
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if: ${{ github.event_name != 'pull_request' && (github.event_name != 'workflow_dispatch' || github.ref == 'refs/heads/ros2') }}
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runs-on: ubuntu-latest
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strategy:
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fail-fast: false
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matrix:
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docker_tag: [humble, jazzy, kilted, lyrical]
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include:
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- docker_tag: humble
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docker_path: 'humble'
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docker_platforms: |
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linux/amd64
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- docker_tag: jazzy
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docker_path: 'jazzy'
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docker_platforms: |
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linux/amd64
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linux/arm64
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- docker_tag: kilted
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docker_path: 'kilted'
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docker_platforms: |
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linux/amd64
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linux/arm64
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- docker_tag: lyrical
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docker_path: 'lyrical'
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docker_platforms: |
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linux/amd64
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linux/arm64
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steps:
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-
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name: Checkout
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uses: actions/checkout@v4
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-
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name: Set up QEMU
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uses: docker/setup-qemu-action@v3
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with:
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platforms: all
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-
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name: Set up Docker Buildx
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uses: docker/setup-buildx-action@v3
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-
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name: Login to DockerHub
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uses: docker/login-action@v3
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with:
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username: ${{ secrets.DOCKERHUB_USERNAME }}
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password: ${{ secrets.DOCKERHUB_TOKEN }}
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-
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name: Build and push
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uses: docker/build-push-action@v6
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with:
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context: .
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push: true
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platforms: ${{ matrix.docker_platforms }}
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file: ./docker/${{ matrix.docker_path }}/Dockerfile
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tags: introlab3it/rtabmap_ros:${{ matrix.docker_tag }}
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no-cache: true
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cache-to: type=inline
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+13
-11
@@ -25,24 +25,26 @@ jobs:
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include:
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- ros_distro: humble
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skip_keys: ''
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packages: 'rtabmap_ros rtabmap_conversions'
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packages: 'rtabmap_ros rtabmap_conversions rtabmap_odom rtabmap_sync rtabmap_util rtabmap_python'
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- ros_distro: jazzy
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skip_keys: ''
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packages: 'rtabmap_ros rtabmap_conversions'
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packages: 'rtabmap_ros rtabmap_conversions rtabmap_odom rtabmap_sync rtabmap_util rtabmap_python'
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- ros_distro: kilted
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skip_keys: 'grid_map_ros'
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packages: 'rtabmap_ros rtabmap_conversions'
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packages: 'rtabmap_ros rtabmap_conversions rtabmap_odom rtabmap_sync rtabmap_util rtabmap_python'
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- ros_distro: lyrical
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skip_keys: 'nav2_bringup nav2_msgs velodyne grid_map_ros realsense2_camera libpointmatcher'
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# rtabmap_costmap_plugins cannot be built, missing nav2 on lyrical, build other packages:
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packages: 'rtabmap_launch rtabmap_demos rtabmap_python rtabmap_examples rtabmap_rviz_plugins rtabmap_conversions'
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skip_keys: 'velodyne grid_map_ros libpointmatcher'
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packages: 'rtabmap_ros rtabmap_conversions rtabmap_odom rtabmap_sync rtabmap_util rtabmap_python'
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- ros_distro: rolling
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# libpointmatcher and gtsam are rtabmap deps not yet available on rolling
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# (same skip keys as introlab/rtabmap's cmake-ros workflow)
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skip_keys: 'nav2_bringup nav2_msgs velodyne libpointmatcher gtsam'
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# Rolling has moved to Ubuntu resolute and much of it has not been rebuilt for
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# that yet, so rosdep finds nothing to install for these. They are all optional
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# to rtabmap, which just builds without them.
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skip_keys: 'velodyne libpointmatcher gtsam grid_map_ros'
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use_ros2_testing: true # Rolling is using ros2-testing (nightly)
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# rtabmap_costmap_plugins cannot be built, missing nav2 on rolling, build other packages:
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packages: 'rtabmap_launch rtabmap_demos rtabmap_python rtabmap_examples rtabmap_rviz_plugins rtabmap_conversions'
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# nav2 is missing from resolute too, and it is not optional: rtabmap_slam and
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# rtabmap_costmap_plugins need it to compile at all, and the rtabmap_ros
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# metapackage pulls both in. So rolling names the packages it can build.
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packages: 'rtabmap_conversions rtabmap_odom rtabmap_sync rtabmap_util rtabmap_python'
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fail-fast: false
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container:
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image: osrf/ros:${{ matrix.ros_distro }}-desktop-full
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