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]>

docker/iron/latest/Dockerfile

@@ -6,15 +6,21 @@ RUN source /ros_entrypoint.sh && \
 
 COPY . ros2_ws/src/rtabmap_ros
 
+# No rosdep "-r": a bad mirror must fail here.
 RUN source /ros_entrypoint.sh && \
     cd ros2_ws && \
-    export MAKEFLAGS="-j1" && \
+    echo 'Acquire::Retries "5";' > /etc/apt/apt.conf.d/80-retries && \
     rosdep init && \
     rosdep update && \
     apt-get update && \
-    rosdep install --from-paths src --ignore-src -r -y -t build_export -t test -t build -t buildtool_export -t buildtool && \
+    rosdep install --from-paths src --ignore-src -y -t build_export -t test -t build -t buildtool_export -t buildtool && \
     apt remove ros-$ROS_DISTRO-rtabmap* -y && \
-    apt-get clean && rm -rf /var/lib/apt/lists/ && \
+    bash src/rtabmap_ros/docker/verify_deps.sh && \
+    apt-get clean && rm -rf /var/lib/apt/lists/
+
+RUN source /ros_entrypoint.sh && \
+    cd ros2_ws && \
+    export MAKEFLAGS="-j1" && \
     colcon build --event-handlers console_direct+ --install-base /opt/ros/iron --merge-install --cmake-args -DRTABMAP_SYNC_MULTI_RGBD=ON -DCMAKE_BUILD_TYPE=Release && \
     cd && \
     rm -rf ros2_ws