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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_rviz_plugins/src/MapCloudDisplay.cpp
+3 -2
View File
@@ -25,6 +25,7 @@ ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include <rtabmap_conversions/PointCloudConversion.h>
#include "rtabmap_rviz_plugins/MapCloudDisplay.h"
#include <QApplication>
@@ -325,7 +326,7 @@ void MapCloudDisplay::processMapData(const rtabmap_msgs::msg::MapData& map)
if(!cloud->empty())
{
pcl::toROSMsg(*cloud, *cloudMsg);
rtabmap_conversions::toPointCloud2Msg(*cloud, *cloudMsg);
}
}
}
@@ -352,7 +353,7 @@ void MapCloudDisplay::processMapData(const rtabmap_msgs::msg::MapData& map)
if(!cloud->empty())
{
pcl::toROSMsg(*cloud, *cloudMsg);
rtabmap_conversions::toPointCloud2Msg(*cloud, *cloudMsg);
}
}
rtabmap_rviz_plugins/src/MapGraphDisplay.cpp
+12
View File
@@ -26,6 +26,18 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include "rtabmap_rviz_plugins/MapGraphDisplay.h"
// rviz's headers forward declare these, so the ones actually used here are included
// directly rather than counting on what rviz happens to pull in.
#include <OgreColourValue.h>
#include <OgreManualObject.h>
#include <OgreMatrix4.h>
#include <OgreQuaternion.h>
#include <OgreRenderOperation.h>
#include <OgreSceneManager.h>
#include <OgreSceneNode.h>
#include <OgreVector.h>
#include <rviz_common/display_context.hpp>
#include "rviz_common/properties/color_property.hpp"
#include "rviz_common/properties/float_property.hpp"