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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_sync/src/impl/CommonDataSubscriberDepth.cpp
+9 -2
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@@ -503,12 +503,19 @@ void CommonDataSubscriber::setupDepthCallbacks(
{
RCLCPP_INFO(node.get_logger(), "Setup depth callback");
image_transport::TransportHints rgbHints(&node); // using "image_transport" parameter
image_transport::TransportHints depthHints(&node, "raw", "depth_transport");
std::string rgbTopic = node.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 = node.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 rgbHints(&node); // using "image_transport" parameter
image_transport::TransportHints depthHints(&node, "raw", "depth_transport");
imageSub_.subscribe(&node, rgbTopic, rgbHints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability(qosImage_).get_rmw_qos_profile(), options);
imageDepthSub_.subscribe(&node, depthTopic, depthHints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability(qosImage_).get_rmw_qos_profile(), options);
#else
image_transport::TransportHints rgbHints(node); // using "image_transport" parameter
image_transport::TransportHints depthHints(node, "raw", "depth_transport");
imageSub_.subscribe(node, rgbTopic, rgbHints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability(qosImage_), options);
imageDepthSub_.subscribe(node, depthTopic, depthHints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability(qosImage_), options);
#endif
cameraInfoSub_.subscribe(&node, "rgb/camera_info", RCLCPP_QOS(topicQueueSize_, qosCameraInfo_), options);
#ifdef RTABMAP_SYNC_USER_DATA
rtabmap_sync/src/impl/CommonDataSubscriberRGB.cpp
+6 -1
View File
@@ -503,9 +503,14 @@ void CommonDataSubscriber::setupRGBCallbacks(
{
RCLCPP_INFO(node.get_logger(), "Setup rgb-only callback");
image_transport::TransportHints hints(&node); // using "image_transport" parameter
std::string rgbTopic = node.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
#ifdef PRE_ROS_LYRICAL
image_transport::TransportHints hints(&node); // using "image_transport" parameter
imageSub_.subscribe(&node, rgbTopic, hints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability(qosImage_).get_rmw_qos_profile(), options);
#else
image_transport::TransportHints hints(node); // using "image_transport" parameter
imageSub_.subscribe(node, rgbTopic, hints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability(qosImage_), options);
#endif
cameraInfoSub_.subscribe(&node, "rgb/camera_info", RCLCPP_QOS(topicQueueSize_, qosCameraInfo_), options);
#ifdef RTABMAP_SYNC_USER_DATA
rtabmap_sync/src/impl/CommonDataSubscriberStereo.cpp
+7 -1
View File
@@ -97,11 +97,17 @@ void CommonDataSubscriber::setupStereoCallbacks(
{
RCLCPP_INFO(node.get_logger(), "Setup stereo callback");
image_transport::TransportHints hints(&node); // using "image_transport" parameter
std::string leftTopic = node.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 = node.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(&node); // using "image_transport" parameter
imageRectLeft_.subscribe(&node, leftTopic, hints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability(qosImage_).get_rmw_qos_profile(), options);
imageRectRight_.subscribe(&node, rightTopic, hints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability(qosImage_).get_rmw_qos_profile(), options);
#else
image_transport::TransportHints hints(node); // using "image_transport" parameter
imageRectLeft_.subscribe(node, leftTopic, hints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability(qosImage_), options);
imageRectRight_.subscribe(node, rightTopic, hints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability(qosImage_), options);
#endif
cameraInfoLeft_.subscribe(&node, "left/camera_info", RCLCPP_QOS(topicQueueSize_, qosCameraInfo_), options);
cameraInfoRight_.subscribe(&node, "right/camera_info", RCLCPP_QOS(topicQueueSize_, qosCameraInfo_), options);
rtabmap_sync/src/nodelets/rgb_sync.cpp
+6 -1
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@@ -103,9 +103,14 @@ RGBSync::RGBSync(const rclcpp::NodeOptions & options) :
exactSync_->registerCallback(std::bind(&RGBSync::callback, this, std::placeholders::_1, std::placeholders::_2));
}
image_transport::TransportHints hints(this); // using "image_transport" parameter
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
#ifdef PRE_ROS_LYRICAL
image_transport::TransportHints hints(this); // using "image_transport" parameter
imageSub_.subscribe(this, rgbTopic, hints.getTransport(), rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
#else
image_transport::TransportHints hints(*this); // using "image_transport" parameter
imageSub_.subscribe(*this, rgbTopic, hints.getTransport(), rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos));
#endif
cameraInfoSub_.subscribe(this, "rgb/camera_info", RCLCPP_QOS(topicQueueSize, qosCaminfo));
std::string subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync%s):\n %s,\n %s",
rtabmap_sync/src/nodelets/rgbd_sync.cpp
+9 -2
View File
@@ -127,12 +127,19 @@ RGBDSync::RGBDSync(const rclcpp::NodeOptions & options) :
exactSyncDepth_->registerCallback(std::bind(&RGBDSync::callback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
}
image_transport::TransportHints rgbHints(this); // using "image_transport" parameter
image_transport::TransportHints depthHints(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 doesn't resolve base topic, fixed by https://github.com/ros-perception/image_common/commit/ea7589ae8c1f7ecb83d6aab7b4c890c2d630d27a
#ifdef PRE_ROS_LYRICAL
image_transport::TransportHints rgbHints(this); // using "image_transport" parameter
image_transport::TransportHints depthHints(this, "raw", "depth_transport");
imageSub_.subscribe(this, rgbTopic, rgbHints.getTransport(), rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
imageDepthSub_.subscribe(this, depthTopic, depthHints.getTransport(), rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
#else
image_transport::TransportHints rgbHints(*this); // using "image_transport" parameter
image_transport::TransportHints depthHints(*this, "raw", "depth_transport");
imageSub_.subscribe(*this, rgbTopic, rgbHints.getTransport(), rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos));
imageDepthSub_.subscribe(*this, depthTopic, depthHints.getTransport(), rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos));
#endif
cameraInfoSub_.subscribe(this, "rgb/camera_info", RCLCPP_QOS(topicQueueSize, qosCamInfo));
std::string subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync%s):\n %s,\n %s,\n %s",
rtabmap_sync/src/nodelets/stereo_sync.cpp
+7 -1
View File
@@ -98,11 +98,17 @@ StereoSync::StereoSync(const rclcpp::NodeOptions & options) :
exactSync_->registerCallback(std::bind(&StereoSync::callback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3, std::placeholders::_4));
}
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
imageLeftSub_.subscribe(this, leftTopic, hints.getTransport(), rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
imageRightSub_.subscribe(this, rightTopic, hints.getTransport(), rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
#else
image_transport::TransportHints hints(*this); // using "image_transport" parameter
imageLeftSub_.subscribe(*this, leftTopic, hints.getTransport(), rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos));
imageRightSub_.subscribe(*this, rightTopic, hints.getTransport(), rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos));
#endif
cameraInfoLeftSub_.subscribe(this, "left/camera_info", RCLCPP_QOS(topicQueueSize, qosCamInfo));
cameraInfoRightSub_.subscribe(this, "right/camera_info", RCLCPP_QOS(topicQueueSize, qosCamInfo));