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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_slam/CMakeLists.txt
+4
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@@ -90,6 +90,10 @@ if("$ENV{ROS_DISTRO}" STRLESS "jazzy")
add_definitions(-DPRE_ROS_JAZZY)
endif()
IF("$ENV{ROS_DISTRO}" STRLESS "lyrical")
add_definitions(-DPRE_ROS_LYRICAL)
ENDIF()
###########
## Build ##
###########
rtabmap_slam/include/rtabmap_slam/CoreWrapper.h
+3 -3
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@@ -33,9 +33,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <std_srvs/srv/empty.hpp>
#include <tf2_ros/buffer.h>
#include <tf2_ros/transform_listener.h>
#include <tf2_ros/transform_broadcaster.h>
#include <tf2_ros/buffer.hpp>
#include <tf2_ros/transform_listener.hpp>
#include <tf2_ros/transform_broadcaster.hpp>
#include <std_msgs/msg/empty.hpp>
#include <std_msgs/msg/int32.hpp>
rtabmap_slam/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_slam</name>
<version>0.22.1</version>
<version>0.23.7</version>
<description>RTAB-Map's SLAM package.</description>
<maintainer email="[email protected]">Mathieu Labbe</maintainer>
<author>Mathieu Labbe</author>
rtabmap_slam/src/CoreWrapper.cpp
+6 -2
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@@ -770,10 +770,14 @@ CoreWrapper::CoreWrapper(const rclcpp::NodeOptions & options) :
Parameters::kRGBDEnabled().c_str(),
Parameters::kRGBDEnabled().c_str());
}
image_transport::TransportHints hints(this); // using "image_transport" parameter
std::string imageTopic = this->get_node_topics_interface()->resolve_topic_name("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 hints(this); // using "image_transport" parameter
defaultSub_ = image_transport::create_subscription(this, imageTopic, std::bind(&CoreWrapper::defaultCallback, this, std::placeholders::_1), hints.getTransport(), rclcpp::QoS(this->getTopicQueueSize()).reliability((rmw_qos_reliability_policy_t)qosImage_).get_rmw_qos_profile(), subOptions);
#else
image_transport::TransportHints hints(*this); // using "image_transport" parameter
defaultSub_ = image_transport::create_subscription(*this, imageTopic, std::bind(&CoreWrapper::defaultCallback, this, std::placeholders::_1), hints.getTransport(), rclcpp::QoS(this->getTopicQueueSize()).reliability((rmw_qos_reliability_policy_t)qosImage_), subOptions);
#endif
RCLCPP_INFO(this->get_logger(), "\n%s subscribed to:\n %s", get_name(), defaultSub_.getTopic().c_str());
}