mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-07 02:07:45 +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
@@ -4,14 +4,32 @@ RUN mkdir -p ros2_ws/src
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COPY . ros2_ws/src/rtabmap_ros
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# No rosdep "-r": a bad mirror must fail here.
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RUN source /ros_entrypoint.sh && \
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cd ros2_ws && \
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export MAKEFLAGS="-j2" && \
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echo 'Acquire::Retries "5";' > /etc/apt/apt.conf.d/80-retries && \
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rosdep init && \
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rosdep update && \
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apt-get update && \
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rosdep install --from-paths src --ignore-src -r -y -t build_export -t test -t build -t buildtool_export -t buildtool --skip-keys="rtabmap" && \
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apt-get clean && rm -rf /var/lib/apt/lists/ && \
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rosdep install --from-paths src --ignore-src -y -t build_export -t test -t build -t buildtool_export -t buildtool --skip-keys="rtabmap" && \
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bash src/rtabmap_ros/docker/verify_deps.sh && \
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apt-get clean && rm -rf /var/lib/apt/lists/
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# Tests run in the build layer, before the workspace is deleted, so none of them reach
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# the image. CI asks for them; a target that is not the architecture being built on
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# skips them, that one being emulated. Only buildx sets BUILDPLATFORM, so anything
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# else building with RUN_TESTS=1 runs them.
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ARG RUN_TESTS=0
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ARG BUILDPLATFORM
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ARG TARGETPLATFORM
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RUN source /ros_entrypoint.sh && \
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cd ros2_ws && \
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export MAKEFLAGS="-j2" && \
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colcon build --executor sequential --event-handlers console_direct+ --install-base /opt/ros/humble --merge-install --cmake-args -DRTABMAP_SYNC_MULTI_RGBD=ON -DCMAKE_BUILD_TYPE=Release && \
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if [ "$RUN_TESTS" = "1" ] && [ "${BUILDPLATFORM:-$TARGETPLATFORM}" = "$TARGETPLATFORM" ]; then \
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colcon test --executor sequential --event-handlers console_direct+ --install-base /opt/ros/humble --merge-install && \
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colcon test-result --verbose; \
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fi && \
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cd && \
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rm -rf ros2_ws
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@@ -6,15 +6,21 @@ RUN source /ros_entrypoint.sh && \
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COPY . ros2_ws/src/rtabmap_ros
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# No rosdep "-r": a bad mirror must fail here.
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RUN source /ros_entrypoint.sh && \
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cd ros2_ws && \
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export MAKEFLAGS="-j1" && \
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echo 'Acquire::Retries "5";' > /etc/apt/apt.conf.d/80-retries && \
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rosdep init && \
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rosdep update && \
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apt-get update && \
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rosdep install --from-paths src --ignore-src -r -y -t build_export -t test -t build -t buildtool_export -t buildtool && \
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rosdep install --from-paths src --ignore-src -y -t build_export -t test -t build -t buildtool_export -t buildtool && \
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apt remove ros-$ROS_DISTRO-rtabmap* -y && \
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apt-get clean && rm -rf /var/lib/apt/lists/ && \
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bash src/rtabmap_ros/docker/verify_deps.sh && \
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apt-get clean && rm -rf /var/lib/apt/lists/
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RUN source /ros_entrypoint.sh && \
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cd ros2_ws && \
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export MAKEFLAGS="-j1" && \
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colcon build --event-handlers console_direct+ --install-base /opt/ros/iron --merge-install --cmake-args -DRTABMAP_SYNC_MULTI_RGBD=ON -DCMAKE_BUILD_TYPE=Release && \
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cd && \
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rm -rf ros2_ws
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@@ -6,14 +6,32 @@ RUN source /ros_entrypoint.sh && \
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COPY . ros2_ws/src/rtabmap_ros
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# No rosdep "-r": a bad mirror must fail here.
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RUN source /ros_entrypoint.sh && \
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cd ros2_ws && \
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export MAKEFLAGS="-j2" && \
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echo 'Acquire::Retries "5";' > /etc/apt/apt.conf.d/80-retries && \
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rosdep init && \
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rosdep update && \
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apt-get update && \
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rosdep install --from-paths src --ignore-src -r -y -t build_export -t test -t build -t buildtool_export -t buildtool --skip-keys="rtabmap grid_map_ros" && \
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apt-get clean && rm -rf /var/lib/apt/lists/ && \
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rosdep install --from-paths src --ignore-src -y -t build_export -t test -t build -t buildtool_export -t buildtool --skip-keys="rtabmap grid_map_ros" && \
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bash src/rtabmap_ros/docker/verify_deps.sh && \
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apt-get clean && rm -rf /var/lib/apt/lists/
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# Tests run in the build layer, before the workspace is deleted, so none of them reach
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# the image. CI asks for them; a target that is not the architecture being built on
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# skips them, that one being emulated. Only buildx sets BUILDPLATFORM, so anything
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# else building with RUN_TESTS=1 runs them.
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ARG RUN_TESTS=0
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ARG BUILDPLATFORM
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ARG TARGETPLATFORM
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RUN source /ros_entrypoint.sh && \
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cd ros2_ws && \
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export MAKEFLAGS="-j2" && \
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colcon build --event-handlers console_direct+ --install-base /opt/ros/$ROS_DISTRO --merge-install --cmake-args -DRTABMAP_SYNC_MULTI_RGBD=ON -DCMAKE_BUILD_TYPE=Release && \
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if [ "$RUN_TESTS" = "1" ] && [ "${BUILDPLATFORM:-$TARGETPLATFORM}" = "$TARGETPLATFORM" ]; then \
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colcon test --executor sequential --event-handlers console_direct+ --install-base /opt/ros/$ROS_DISTRO --merge-install && \
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colcon test-result --verbose; \
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fi && \
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cd && \
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rm -rf ros2_ws
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@@ -6,14 +6,32 @@ RUN source /ros_entrypoint.sh && \
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COPY . ros2_ws/src/rtabmap_ros
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# No rosdep "-r": a bad mirror must fail here.
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RUN source /ros_entrypoint.sh && \
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cd ros2_ws && \
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export MAKEFLAGS="-j2" && \
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echo 'Acquire::Retries "5";' > /etc/apt/apt.conf.d/80-retries && \
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rosdep init && \
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rosdep update && \
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apt-get update && \
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rosdep install --from-paths src --ignore-src -r -y -t build_export -t test -t build -t buildtool_export -t buildtool --skip-keys="rtabmap nav2_bringup realsense2_camera nav2_msgs grid_map_ros" && \
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apt-get clean && rm -rf /var/lib/apt/lists/ && \
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rosdep install --from-paths src --ignore-src -y -t build_export -t test -t build -t buildtool_export -t buildtool --skip-keys="rtabmap nav2_bringup realsense2_camera nav2_msgs grid_map_ros" && \
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bash src/rtabmap_ros/docker/verify_deps.sh && \
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apt-get clean && rm -rf /var/lib/apt/lists/
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# Tests run in the build layer, before the workspace is deleted, so none of them reach
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# the image. CI asks for them; a target that is not the architecture being built on
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# skips them, that one being emulated. Only buildx sets BUILDPLATFORM, so anything
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# else building with RUN_TESTS=1 runs them.
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ARG RUN_TESTS=0
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ARG BUILDPLATFORM
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ARG TARGETPLATFORM
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RUN source /ros_entrypoint.sh && \
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cd ros2_ws && \
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export MAKEFLAGS="-j2" && \
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colcon build --event-handlers console_direct+ --install-base /opt/ros/$ROS_DISTRO --merge-install --cmake-args -DRTABMAP_SYNC_MULTI_RGBD=ON -DCMAKE_BUILD_TYPE=Release && \
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if [ "$RUN_TESTS" = "1" ] && [ "${BUILDPLATFORM:-$TARGETPLATFORM}" = "$TARGETPLATFORM" ]; then \
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colcon test --executor sequential --event-handlers console_direct+ --install-base /opt/ros/$ROS_DISTRO --merge-install && \
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colcon test-result --verbose; \
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fi && \
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cd && \
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rm -rf ros2_ws
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@@ -6,14 +6,32 @@ RUN source /ros_entrypoint.sh && \
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COPY . ros2_ws/src/rtabmap_ros
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# No rosdep "-r": a bad mirror must fail here.
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RUN source /ros_entrypoint.sh && \
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cd ros2_ws && \
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export MAKEFLAGS="-j2" && \
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echo 'Acquire::Retries "5";' > /etc/apt/apt.conf.d/80-retries && \
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rosdep init && \
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rosdep update && \
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apt-get update && \
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rosdep install --from-paths src --ignore-src -r -y -t build_export -t test -t build -t buildtool_export -t buildtool --skip-keys="rtabmap nav2_bringup realsense2_camera nav2_msgs grid_map_ros nav2_costmap_2d" && \
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apt-get clean && rm -rf /var/lib/apt/lists/ && \
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colcon build --packages-skip rtabmap_costmap_plugins rtabmap_ros --event-handlers console_direct+ --install-base /opt/ros/$ROS_DISTRO --merge-install --cmake-args -DRTABMAP_SYNC_MULTI_RGBD=ON -DCMAKE_BUILD_TYPE=Release && \
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rosdep install --from-paths src --ignore-src -y -t build_export -t test -t build -t buildtool_export -t buildtool --skip-keys="rtabmap nav2_bringup realsense2_camera nav2_msgs grid_map_ros" && \
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bash src/rtabmap_ros/docker/verify_deps.sh && \
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apt-get clean && rm -rf /var/lib/apt/lists/
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# Tests run in the build layer, before the workspace is deleted, so none of them reach
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# the image. CI asks for them; a target that is not the architecture being built on
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# skips them, that one being emulated. Only buildx sets BUILDPLATFORM, so anything
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# else building with RUN_TESTS=1 runs them.
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ARG RUN_TESTS=0
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ARG BUILDPLATFORM
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ARG TARGETPLATFORM
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RUN source /ros_entrypoint.sh && \
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cd ros2_ws && \
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export MAKEFLAGS="-j2" && \
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colcon build --event-handlers console_direct+ --install-base /opt/ros/$ROS_DISTRO --merge-install --cmake-args -DRTABMAP_SYNC_MULTI_RGBD=ON -DCMAKE_BUILD_TYPE=Release && \
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if [ "$RUN_TESTS" = "1" ] && [ "${BUILDPLATFORM:-$TARGETPLATFORM}" = "$TARGETPLATFORM" ]; then \
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colcon test --executor sequential --event-handlers console_direct+ --install-base /opt/ros/$ROS_DISTRO --merge-install && \
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colcon test-result --verbose; \
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fi && \
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cd && \
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rm -rf ros2_ws
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Executable
+63
@@ -0,0 +1,63 @@
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#!/usr/bin/env bash
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#
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# Sanity-check the build sysroot right after "rosdep install".
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#
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# apt/dpkg can be left in a half-applied state, most often on the QEMU-emulated
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# arm64 CI leg (ports.ubuntu.com is a single, frequently desynced mirror). CMake
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# does not notice, because both PCL and VTK look their files up in ways that
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# degrade silently:
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#
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# * PCLConfig.cmake resolves each component with
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# find_library(... HINTS ${PCL_LIBRARY_DIRS} NO_DEFAULT_PATH), so a missing
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# libpcl_*.so only yields "Could NOT find PCL_COMMON (missing:
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# PCL_COMMON_LIBRARY)" on stderr and configuring still succeeds.
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#
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# * VTK-targets.cmake creates every VTK::* imported target, then loads their
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# IMPORTED_LOCATION from the per-configuration files it picks up with
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# file(GLOB VTK-targets-*.cmake). An empty glob is not an error, so the
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# targets survive with no location at all and the build only dies at the
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# generate step with "IMPORTED_LOCATION not set for imported target
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# VTK::CommonCore configuration Release".
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#
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# Both surface hours into the build, in whichever package first links those
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# targets (rtabmap_odom, via pcl_ros). Fail here instead, where the cause is
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# still readable.
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set -euo pipefail
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shopt -s nullglob
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status=0
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fail() {
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echo "verify_deps: $*" >&2
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status=1
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}
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# PCLConfig.cmake and the libpcl_*.so development symlinks both ship in
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# libpcl-dev, so finding the config without them means the package is not
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# fully installed.
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for config in /usr/lib/*/cmake/pcl/PCLConfig.cmake /usr/lib/cmake/pcl/PCLConfig.cmake; do
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# nullglob only drops patterns, not wildcard-free words.
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[ -e "${config}" ] || continue
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libdir=${config%/cmake/pcl/PCLConfig.cmake}
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for component in common io kdtree search surface filters registration \
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sample_consensus segmentation visualization; do
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if [ ! -e "${libdir}/libpcl_${component}.so" ]; then
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fail "${libdir}/libpcl_${component}.so is missing while ${config} is installed (libpcl-dev is incomplete)"
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fi
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done
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done
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for targets in /usr/lib/*/cmake/vtk-*/VTK-targets.cmake /usr/lib/cmake/vtk-*/VTK-targets.cmake; do
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[ -e "${targets}" ] || continue
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if ! compgen -G "${targets%.cmake}-*.cmake" > /dev/null; then
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fail "no VTK-targets-<config>.cmake next to ${targets}, every VTK::* target would have no IMPORTED_LOCATION (libvtk-dev is incomplete)"
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fi
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done
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if [ "${status}" -ne 0 ]; then
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echo "verify_deps: dependency installation left an inconsistent sysroot, aborting before the build" >&2
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exit 1
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fi
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echo "verify_deps: PCL and VTK sysroot look consistent"
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