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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]>
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@@ -6,6 +6,14 @@ A SLAM node needs a camera's color image, its depth image and its calibration as
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Every node is a [composable node](https://docs.ros.org/en/jazzy/Tutorials/Intermediate/Composition.html) as well as a standalone executable. **Compose these into the camera driver's process where you can**: they copy every pixel of every frame, and across a process boundary that copy is a serialization plus a memcpy per image.
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## Contents
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- [Nodes](#nodes)
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- [Library](#library)
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- [Conventions](#conventions)
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- [Build options](#build-options)
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- [License](#license)
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## Nodes
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One page per node.
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@@ -62,16 +70,6 @@ For several cameras, **prefer turning `RTABMAP_SYNC_MULTI_RGBD` on**. The consum
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Without the options, asking for either is refused rather than ignored quietly — `subscribe_user_data` is reset to false with an error, and `rgbd_cameras` > 1 leaves nothing subscribed and says so.
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## Building and testing
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```bash
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colcon build --packages-select rtabmap_sync
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colcon test --packages-select rtabmap_sync
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colcon test-result --verbose
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```
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The tests drive each node over real ROS topics inside the gtest binary — no launch files and no separate processes — so they also serve as worked examples of each node's topics and parameters.
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## License
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BSD-3-Clause. See the [repository root](https://github.com/introlab/rtabmap_ros#license).
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@@ -20,6 +20,16 @@ flowchart LR
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ODOM -->|odometry| MAP
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```
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## Contents
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- [Usage](#usage)
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- [Subscribed Topics](#subscribed-topics)
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- [Published Topics](#published-topics)
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- [Parameters](#parameters)
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- [fill_empty_depth](#fill_empty_depth)
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- [Synchronization](#synchronization)
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- [Diagnostics](#diagnostics)
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## Usage
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```bash
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@@ -63,6 +63,18 @@ It can also decimate the images, rescale depth into the unit RTAB-Map expects, a
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For a monocular camera use [rgb_sync](rgb_sync.md); for a stereo pair, [stereo_sync](stereo_sync.md); for several RGB-D cameras, one of these per camera feeding [rgbdx_sync](rgbdx_sync.md).
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## Contents
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- [Usage](#usage)
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- [Subscribed Topics](#subscribed-topics)
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- [Published Topics](#published-topics)
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- [Parameters](#parameters)
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- [Synchronization](#synchronization)
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- [Depth units](#depth-units)
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- [Compressing for a slow link](#compressing-for-a-slow-link)
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- [Decimation](#decimation)
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- [Diagnostics](#diagnostics)
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## Usage
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```bash
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@@ -54,6 +54,17 @@ flowchart LR
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ODOMT --> MAP & VIZ
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```
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## Contents
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- [Usage](#usage)
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- [Subscribed Topics](#subscribed-topics)
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- [Published Topics](#published-topics)
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- [Parameters](#parameters)
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- [Order matters](#order-matters)
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- [Synchronization](#synchronization)
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- [Feeding it to rtabmap](#feeding-it-to-rtabmap)
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- [Diagnostics](#diagnostics)
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## Usage
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```bash
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@@ -44,6 +44,17 @@ flowchart LR
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ODOMT --> MAP & VIZ
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```
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## Contents
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- [Usage](#usage)
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- [Subscribed Topics](#subscribed-topics)
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- [Published Topics](#published-topics)
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- [Parameters](#parameters)
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- [How a stereo pair travels in an RGBDImage](#how-a-stereo-pair-travels-in-an-rgbdimage)
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- [Synchronization](#synchronization)
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- [Compressing for a slow link](#compressing-for-a-slow-link)
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- [Diagnostics](#diagnostics)
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## Usage
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```bash
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