rtabmap_odom tests and doc (#1456)

mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-04 08:47:45 +08:00

* 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

									
										rtabmap_util/doc/point_cloud_xyz.md
									
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				@@ -8,6 +8,15 @@ The node takes a depth image and its calibration and produces a [`sensor_msgs/ms

				See [point_cloud_xyzrgb](point_cloud_xyzrgb.md) for the colored equivalent.

				## Contents

				- [Usage](#usage)

				- [Subscribed Topics](#subscribed-topics)

				- [Published Topics](#published-topics)

				- [Parameters](#parameters)

				- [Organized output](#organized-output)

				- [Notes](#notes)

				## Usage

				```bash