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test(rtabmap_slam): cover scan transform recovery in native tests

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Replace the standalone reproducer with registered C++ GoogleTests for 2D and 3D scan recovery. Use real ROS inputs, separate DDS domains and bounded timeouts, and include rtabmap_slam in supported CI and coverage jobs.

Validated on Jazzy with RTAB-Map core 9ed83a7: both negative controls fail map recovery without the unlocks; both pass with the fix, followed by five repeated runs per case (10/10 passed). Broader distro CI has not been run locally.
This commit is contained in:
Matthew Kotara
2026-09-22 17:33:01 +01:00
parent adef11e0f9
commit 254ca3b667
7 changed files with 233 additions and 204 deletions
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.github/workflows/ros2.yml
+4 -4
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@@ -25,16 +25,16 @@ jobs:
include:
- ros_distro: humble
skip_keys: ''
packages: 'rtabmap_ros rtabmap_conversions rtabmap_odom rtabmap_sync rtabmap_util rtabmap_python'
packages: 'rtabmap_slam rtabmap_ros rtabmap_conversions rtabmap_odom rtabmap_sync rtabmap_util rtabmap_python'
- ros_distro: jazzy
skip_keys: ''
packages: 'rtabmap_ros rtabmap_conversions rtabmap_odom rtabmap_sync rtabmap_util rtabmap_python'
packages: 'rtabmap_slam rtabmap_ros rtabmap_conversions rtabmap_odom rtabmap_sync rtabmap_util rtabmap_python'
- ros_distro: kilted
skip_keys: 'grid_map_ros'
packages: 'rtabmap_ros rtabmap_conversions rtabmap_odom rtabmap_sync rtabmap_util rtabmap_python'
packages: 'rtabmap_slam rtabmap_ros rtabmap_conversions rtabmap_odom rtabmap_sync rtabmap_util rtabmap_python'
- ros_distro: lyrical
skip_keys: 'velodyne grid_map_ros libpointmatcher'
packages: 'rtabmap_ros rtabmap_conversions rtabmap_odom rtabmap_sync rtabmap_util rtabmap_python'
packages: 'rtabmap_slam rtabmap_ros rtabmap_conversions rtabmap_odom rtabmap_sync rtabmap_util rtabmap_python'
- ros_distro: rolling
# Rolling has moved to Ubuntu resolute and much of it has not been rebuilt for
# that yet, so rosdep finds nothing to install for these. They are all optional