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]>

.github/workflows/ros2.yml

@@ -25,24 +25,26 @@ jobs:
         include:
         - ros_distro: humble
           skip_keys: ''
-          packages: 'rtabmap_ros rtabmap_conversions'
+          packages: 'rtabmap_ros rtabmap_conversions rtabmap_odom rtabmap_sync rtabmap_util rtabmap_python'
         - ros_distro: jazzy
           skip_keys: ''
-          packages: 'rtabmap_ros rtabmap_conversions'
+          packages: 'rtabmap_ros rtabmap_conversions rtabmap_odom rtabmap_sync rtabmap_util rtabmap_python'
         - ros_distro: kilted
           skip_keys: 'grid_map_ros'
-          packages: 'rtabmap_ros rtabmap_conversions'
+          packages: 'rtabmap_ros rtabmap_conversions rtabmap_odom rtabmap_sync rtabmap_util rtabmap_python'
         - ros_distro: lyrical
-          skip_keys: 'nav2_bringup nav2_msgs velodyne grid_map_ros realsense2_camera libpointmatcher'
-          # rtabmap_costmap_plugins cannot be built, missing nav2 on lyrical, build other packages:
-          packages: 'rtabmap_launch rtabmap_demos rtabmap_python rtabmap_examples rtabmap_rviz_plugins rtabmap_conversions'
+          skip_keys: 'velodyne grid_map_ros libpointmatcher'
+          packages: 'rtabmap_ros rtabmap_conversions rtabmap_odom rtabmap_sync rtabmap_util rtabmap_python'
         - ros_distro: rolling
-          # libpointmatcher and gtsam are rtabmap deps not yet available on rolling
-          # (same skip keys as introlab/rtabmap's cmake-ros workflow)
-          skip_keys: 'nav2_bringup nav2_msgs velodyne libpointmatcher gtsam'
+          # Rolling has moved to Ubuntu resolute and much of it has not been rebuilt for
+          # that yet, so rosdep finds nothing to install for these. They are all optional
+          # to rtabmap, which just builds without them.
+          skip_keys: 'velodyne libpointmatcher gtsam grid_map_ros'
           use_ros2_testing: true # Rolling is using ros2-testing (nightly)
-          # rtabmap_costmap_plugins cannot be built, missing nav2 on rolling, build other packages:
-          packages: 'rtabmap_launch rtabmap_demos rtabmap_python rtabmap_examples rtabmap_rviz_plugins rtabmap_conversions'
+          # nav2 is missing from resolute too, and it is not optional: rtabmap_slam and
+          # rtabmap_costmap_plugins need it to compile at all, and the rtabmap_ros
+          # metapackage pulls both in. So rolling names the packages it can build.
+          packages: 'rtabmap_conversions rtabmap_odom rtabmap_sync rtabmap_util rtabmap_python'
       fail-fast: false
     container:
       image: osrf/ros:${{ matrix.ros_distro }}-desktop-full