i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-09 11:17:03 +08:00
Code Issues Packages Projects Releases Wiki Activity

rtabmap_odom tests and doc (#1456)

Browse Source 
* 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
2026-09-21 17:02:45 -07:00
committed by GitHub
co-authored by mathieu86
parent 73c98f87a8
commit 11edc01d6a
91 changed files with 9736 additions and 350 deletions
Download Patch File Download Diff File Expand all files Collapse all files
README.md
+10 -1
View File
@@ -36,7 +36,7 @@ The stack is split into small packages so a pipeline only pulls in what it uses.
| Package | Description |
|---|---|
| `rtabmap_slam` | The `rtabmap` node itself: appearance-based loop closure detection, graph optimization, memory management and map assembly. |
| `rtabmap_odom` | Odometry nodes — `rgbd_odometry`, `stereo_odometry` and `icp_odometry`. Any external odometry can be used instead. |
| [`rtabmap_odom`](rtabmap_odom/README.md) | Odometry nodes — `rgbd_odometry`, `stereo_odometry` and `icp_odometry`. Any external odometry can be used instead. |
| [`rtabmap_sync`](rtabmap_sync/README.md) | Synchronizes camera and lidar topics into a single message so they reach the SLAM node together — `rgbd_sync`, `stereo_sync`, `rgbdx_sync`. |
### Sensor processing
@@ -100,6 +100,15 @@ sudo apt install ros-$ROS_DISTRO-rtabmap-ros
colcon build --symlink-install --cmake-args -DRTABMAP_SYNC_MULTI_RGBD=ON -DRTABMAP_SYNC_USER_DATA=ON -DCMAKE_BUILD_TYPE=Release
```
### Testing
```bash
cd ~/ros2_ws
colcon build --base-paths src/rtabmap_ros
colcon test --base-paths src/rtabmap_ros
colcon test-result --verbose
```
# Usage
* For sensor integration examples (stereo and RGB-D cameras, 3D LiDAR), see [rtabmap_examples](https://github.com/introlab/rtabmap_ros/tree/ros2/rtabmap_examples/launch) sub-folder.