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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
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rtabmap_odom/src/nodelets/rgbd_odometry.cpp
+9 -2
View File
@@ -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
View File
@@ -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);