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Lyrical support (#1433)

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* Lyrical support

* removed dep not available on lyrical

* updated docker lyrcical

* making cmake less verbose, disabled tests on rtabmap_python

* cleanup not used tests in rtabmap_python

* addressing some lyrical deprecated warnings

* cancel pr jobs on recommit

* small refactor

* disabled lyrical bin docker

* restored python test and fixed error

* trigger ci

* fixing docker lyrical

* disabled rtabmap_ros lyrical

* pytest

* fixing packages-skip

* bump 0.23.7
This commit is contained in:
matlabbe
2026-06-21 12:55:28 -07:00
committed by GitHub
parent 01711324b7
commit 2eef2b3231
58 changed files with 311 additions and 77 deletions
Download Patch File Download Diff File Expand all files Collapse all files
rtabmap_odom/CMakeLists.txt
+4
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@@ -74,6 +74,10 @@ SET(AmentLibraries
rtabmap_sync
)
IF("$ENV{ROS_DISTRO}" STRLESS "lyrical")
add_definitions(-DPRE_ROS_LYRICAL)
ENDIF()
###########
## Build ##
###########
rtabmap_odom/include/rtabmap_odom/OdometryROS.h
+3 -3
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@@ -30,9 +30,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rclcpp/rclcpp.hpp"
#include <tf2_ros/transform_broadcaster.h>
#include <tf2_ros/buffer.h>
#include <tf2_ros/transform_listener.h>
#include <tf2_ros/transform_broadcaster.hpp>
#include <tf2_ros/buffer.hpp>
#include <tf2_ros/transform_listener.hpp>
#include <diagnostic_updater/diagnostic_updater.hpp>
rtabmap_odom/package.xml
+1 -1
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@@ -2,7 +2,7 @@
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>rtabmap_odom</name>
<version>0.22.1</version>
<version>0.23.7</version>
<description>RTAB-Map's odometry package.</description>
<maintainer email="[email protected]">Mathieu Labbe</maintainer>
<author>Mathieu Labbe</author>
rtabmap_odom/src/nodelets/rgbd_odometry.cpp
+9 -2
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@@ -362,12 +362,19 @@ void RGBDOdometry::onOdomInit()
}
else
{
image_transport::TransportHints rgb_hints(this); // using "image_transport" parameter
image_transport::TransportHints depth_hints(this, "raw", "depth_transport");
std::string rgbTopic = this->get_node_topics_interface()->resolve_topic_name("rgb/image"); // Humble/Jazzy don't resolve base topic, fixed by https://github.com/ros-perception/image_common/commit/ea7589ae8c1f7ecb83d6aab7b4c890c2d630d27a
std::string depthTopic = this->get_node_topics_interface()->resolve_topic_name("depth/image"); // Humble/Jazzy don't resolve base topic, fixed by https://github.com/ros-perception/image_common/commit/ea7589ae8c1f7ecb83d6aab7b4c890c2d630d27a
#ifdef PRE_ROS_LYRICAL
image_transport::TransportHints rgb_hints(this); // using "image_transport" parameter
image_transport::TransportHints depth_hints(this, "raw", "depth_transport");
image_mono_sub_.subscribe(this, rgbTopic, rgb_hints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qos()).get_rmw_qos_profile(), options);
image_depth_sub_.subscribe(this, depthTopic, depth_hints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qos()).get_rmw_qos_profile(), options);
#else
image_transport::TransportHints rgb_hints(*this); // using "image_transport" parameter
image_transport::TransportHints depth_hints(*this, "raw", "depth_transport");
image_mono_sub_.subscribe(*this, rgbTopic, rgb_hints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qos()), options);
image_depth_sub_.subscribe(*this, depthTopic, depth_hints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qos()), options);
#endif
info_sub_.subscribe(this, "rgb/camera_info", RCLCPP_QOS(topicQueueSize_, qosCamInfo), options);
if(approxSync)
rtabmap_odom/src/nodelets/stereo_odometry.cpp
+7 -2
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@@ -349,12 +349,17 @@ void StereoOdometry::onOdomInit()
}
else
{
image_transport::TransportHints hints(this); // using "image_transport" parameter
std::string leftTopic = this->get_node_topics_interface()->resolve_topic_name("left/image_rect"); // Humble/Jazzy don't resolve base topic, fixed by https://github.com/ros-perception/image_common/commit/ea7589ae8c1f7ecb83d6aab7b4c890c2d630d27a
std::string rightTopic = this->get_node_topics_interface()->resolve_topic_name("right/image_rect"); // Humble/Jazzy don't resolve base topic, fixed by https://github.com/ros-perception/image_common/commit/ea7589ae8c1f7ecb83d6aab7b4c890c2d630d27a
#ifdef PRE_ROS_LYRICAL
image_transport::TransportHints hints(this); // using "image_transport" parameter
imageRectLeft_.subscribe(this, leftTopic, hints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qos()).get_rmw_qos_profile(), options);
imageRectRight_.subscribe(this, rightTopic, hints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qos()).get_rmw_qos_profile(), options);
#else
image_transport::TransportHints hints(*this); // using "image_transport" parameter
imageRectLeft_.subscribe(*this, leftTopic, hints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qos()), options);
imageRectRight_.subscribe(*this, rightTopic, hints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qos()), options);
#endif
cameraInfoLeft_.subscribe(this, "left/camera_info", RCLCPP_QOS(topicQueueSize_, qosCamInfo), options);
cameraInfoRight_.subscribe(this, "right/camera_info", RCLCPP_QOS(topicQueueSize_, qosCamInfo), options);