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rtabmap_odom tests and doc (#1456)

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* 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
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rtabmap_odom/test/data/rgbd/calib/17.yaml
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#%YAML:1.0
camera_name: "17"
image_width: 640
image_height: 480
camera_matrix:
rows: 3
cols: 3
data: [ 525., 0., 3.1950000000000000e+02, 0., 525.,
2.3950000000000000e+02, 0., 0., 1. ]
local_transform:
rows: 3
cols: 4
data: [ -1.46162510e-03, 5.99460006e-02, 9.98200655e-01,
6.20153509e-02, -9.99999106e-01, -8.77380371e-05, -1.45888329e-03,
-1.63501027e-04, -2.98023224e-08, -9.98201728e-01, 5.99459410e-02,
4.28920656e-01 ]