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]>
2026-10-04 08:47:45 +08:00 · 2026-09-21 17:02:45 -07:00
parent 73c98f87a8
commit 11edc01d6a
91 changed files with 9736 additions and 350 deletions
@@ -0,0 +1,63 @@
+#!/usr/bin/env bash
+#
+# Sanity-check the build sysroot right after "rosdep install".
+#
+# apt/dpkg can be left in a half-applied state, most often on the QEMU-emulated
+# arm64 CI leg (ports.ubuntu.com is a single, frequently desynced mirror). CMake
+# does not notice, because both PCL and VTK look their files up in ways that
+# degrade silently:
+#
+#   * PCLConfig.cmake resolves each component with
+#     find_library(... HINTS ${PCL_LIBRARY_DIRS} NO_DEFAULT_PATH), so a missing
+#     libpcl_*.so only yields "Could NOT find PCL_COMMON (missing:
+#     PCL_COMMON_LIBRARY)" on stderr and configuring still succeeds.
+#
+#   * VTK-targets.cmake creates every VTK::* imported target, then loads their
+#     IMPORTED_LOCATION from the per-configuration files it picks up with
+#     file(GLOB VTK-targets-*.cmake). An empty glob is not an error, so the
+#     targets survive with no location at all and the build only dies at the
+#     generate step with "IMPORTED_LOCATION not set for imported target
+#     VTK::CommonCore configuration Release".
+#
+# Both surface hours into the build, in whichever package first links those
+# targets (rtabmap_odom, via pcl_ros). Fail here instead, where the cause is
+# still readable.
+
+set -euo pipefail
+shopt -s nullglob
+
+status=0
+
+fail() {
+  echo "verify_deps: $*" >&2
+  status=1
+}
+
+# PCLConfig.cmake and the libpcl_*.so development symlinks both ship in
+# libpcl-dev, so finding the config without them means the package is not
+# fully installed.
+for config in /usr/lib/*/cmake/pcl/PCLConfig.cmake /usr/lib/cmake/pcl/PCLConfig.cmake; do
+  # nullglob only drops patterns, not wildcard-free words.
+  [ -e "${config}" ] || continue
+  libdir=${config%/cmake/pcl/PCLConfig.cmake}
+  for component in common io kdtree search surface filters registration \
+                   sample_consensus segmentation visualization; do
+    if [ ! -e "${libdir}/libpcl_${component}.so" ]; then
+      fail "${libdir}/libpcl_${component}.so is missing while ${config} is installed (libpcl-dev is incomplete)"
+    fi
+  done
+done
+
+for targets in /usr/lib/*/cmake/vtk-*/VTK-targets.cmake /usr/lib/cmake/vtk-*/VTK-targets.cmake; do
+  [ -e "${targets}" ] || continue
+  if ! compgen -G "${targets%.cmake}-*.cmake" > /dev/null; then
+    fail "no VTK-targets-<config>.cmake next to ${targets}, every VTK::* target would have no IMPORTED_LOCATION (libvtk-dev is incomplete)"
+  fi
+done
+
+if [ "${status}" -ne 0 ]; then
+  echo "verify_deps: dependency installation left an inconsistent sysroot, aborting before the build" >&2
+  exit 1
+fi
+
+echo "verify_deps: PCL and VTK sysroot look consistent"