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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_util/CMakeLists.txt
+4
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@@ -87,6 +87,10 @@ 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_util/include/rtabmap_util/db_player.hpp
+2 -2
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@@ -44,8 +44,8 @@ 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_broadcaster.h>
#include <tf2_ros/buffer.hpp>
#include <tf2_ros/transform_broadcaster.hpp>
#include <rtabmap_msgs/msg/rgbd_image.hpp>
#include <rtabmap_msgs/msg/env_sensor.hpp>
rtabmap_util/include/rtabmap_util/imu_to_tf.hpp
+3 -3
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@@ -30,9 +30,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <sensor_msgs/msg/imu.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>
namespace rtabmap_util
{
rtabmap_util/include/rtabmap_util/lidar_deskewing.hpp
+2 -2
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@@ -30,8 +30,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap_sync/SyncDiagnostic.h>
#include <tf2_ros/buffer.h>
#include <tf2_ros/transform_listener.h>
#include <tf2_ros/buffer.hpp>
#include <tf2_ros/transform_listener.hpp>
#include <sensor_msgs/msg/point_cloud2.hpp>
#include <sensor_msgs/msg/laser_scan.hpp>
rtabmap_util/include/rtabmap_util/obstacles_detection.hpp
+2 -2
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@@ -28,8 +28,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rclcpp/rclcpp.hpp"
#include <rtabmap_util/visibility.h>
#include <tf2_ros/buffer.h>
#include <tf2_ros/transform_listener.h>
#include <tf2_ros/buffer.hpp>
#include <tf2_ros/transform_listener.hpp>
#include <sensor_msgs/msg/point_cloud2.hpp>
rtabmap_util/include/rtabmap_util/point_cloud_aggregator.hpp
+2 -2
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@@ -30,8 +30,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <sensor_msgs/msg/point_cloud2.hpp>
#include <tf2_ros/buffer.h>
#include <tf2_ros/transform_listener.h>
#include <tf2_ros/buffer.hpp>
#include <tf2_ros/transform_listener.hpp>
#include <message_filters/sync_policies/approximate_time.hpp>
#include <message_filters/subscriber.hpp>
rtabmap_util/include/rtabmap_util/point_cloud_assembler.hpp
+2 -2
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@@ -28,8 +28,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap_util/visibility.h>
#include "rclcpp/rclcpp.hpp"
#include <tf2_ros/buffer.h>
#include <tf2_ros/transform_listener.h>
#include <tf2_ros/buffer.hpp>
#include <tf2_ros/transform_listener.hpp>
#include <nav_msgs/msg/odometry.hpp>
#include <sensor_msgs/msg/point_cloud2.hpp>
rtabmap_util/include/rtabmap_util/pointcloud_to_depthimage.hpp
+2 -2
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@@ -34,8 +34,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <image_transport/image_transport.hpp>
#include <tf2_ros/buffer.h>
#include <tf2_ros/transform_listener.h>
#include <tf2_ros/buffer.hpp>
#include <tf2_ros/transform_listener.hpp>
#include <message_filters/sync_policies/approximate_time.hpp>
#include <message_filters/sync_policies/exact_time.hpp>
rtabmap_util/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_util</name>
<version>0.22.1</version>
<version>0.23.7</version>
<description>RTAB-Map's various useful nodes and nodelets.</description>
<maintainer email="[email protected]">Mathieu Labbe</maintainer>
<author>Mathieu Labbe</author>
rtabmap_util/scripts/netvlad_tf_ros.py
+1 -1
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@@ -24,7 +24,7 @@ import netvlad_tf.nets as nets
from std_msgs.msg import String
from sensor_msgs.msg import Image
from cv_bridge import CvBridge, CvBridgeError
from rtabmap_python import compression as cp
from rtabmap_python import cv_compression as cp
from rtabmap_msgs.msg import GlobalDescriptor
class netvlad_ros:
rtabmap_util/src/DbPlayerNode.cpp
+4 -1
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@@ -87,6 +87,9 @@ int main(int argc, char **argv)
rclcpp::Rate pauseRate(10);
rclcpp::executors::SingleThreadedExecutor executor;
executor.add_node(node);
while(rclcpp::ok())
{
if(!node->publishNextFrame()) {
@@ -117,7 +120,7 @@ int main(int argc, char **argv)
}
pauseRate.sleep();
rclcpp::spin_some(node);
executor.spin_some();
}
}
rtabmap_util/src/nodelets/db_player.cpp
+21 -1
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@@ -220,7 +220,11 @@ void DbPlayer::initializePublishers(const rtabmap::OdometryEvent & odom)
else
{
if(rgbPub_.getTopic().empty()) {
#ifdef PRE_ROS_LYRICAL
rgbPub_ = image_transport::create_publisher(this, "rgb/image", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos_).get_rmw_qos_profile());
#else
rgbPub_ = image_transport::create_publisher(*this, "rgb/image", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos_));
#endif
RCLCPP_INFO(get_logger(), "Gray/RGB image \"%s\" will be published.", rgbPub_.getTopic().c_str());
}
if(!rgbInfoPub_.get()) {
@@ -228,7 +232,11 @@ void DbPlayer::initializePublishers(const rtabmap::OdometryEvent & odom)
RCLCPP_INFO(get_logger(), "Gray/RGB calibration \"%s\" will be published.", rgbInfoPub_->get_topic_name());
}
if(depthPub_.getTopic().empty()) {
#ifdef PRE_ROS_LYRICAL
depthPub_ = image_transport::create_publisher(this, "depth/image", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos_).get_rmw_qos_profile());
#else
depthPub_ = image_transport::create_publisher(*this, "depth/image", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos_));
#endif
RCLCPP_INFO(get_logger(), "Depth image \"%s\" will be published.", depthPub_.getTopic().c_str());
}
if(!depthInfoPub_.get()) {
@@ -254,7 +262,11 @@ void DbPlayer::initializePublishers(const rtabmap::OdometryEvent & odom)
else
{
if(leftPub_.getTopic().empty()) {
#ifdef PRE_ROS_LYRICAL
leftPub_ = image_transport::create_publisher(this, "left/image", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos_).get_rmw_qos_profile());
#else
leftPub_ = image_transport::create_publisher(*this, "left/image", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos_));
#endif
RCLCPP_INFO(get_logger(), "Left image \"%s\" will be published.", leftPub_.getTopic().c_str());
}
if(!leftInfoPub_.get()) {
@@ -262,7 +274,11 @@ void DbPlayer::initializePublishers(const rtabmap::OdometryEvent & odom)
RCLCPP_INFO(get_logger(), "Left calibration \"%s\" will be published.", leftInfoPub_->get_topic_name());
}
if(rightPub_.getTopic().empty()) {
#ifdef PRE_ROS_LYRICAL
rightPub_ = image_transport::create_publisher(this, "right/image", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos_).get_rmw_qos_profile());
#else
rightPub_ = image_transport::create_publisher(*this, "right/image", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos_));
#endif
RCLCPP_INFO(get_logger(), "Right image \"%s\" will be published.", rightPub_.getTopic().c_str());
}
if(!rightInfoPub_.get()) {
@@ -274,8 +290,12 @@ void DbPlayer::initializePublishers(const rtabmap::OdometryEvent & odom)
}
else if(imagePub_.getTopic().empty())
{
#ifdef PRE_ROS_LYRICAL
imagePub_ = image_transport::create_publisher(this, "image", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos_).get_rmw_qos_profile());
RCLCPP_INFO(get_logger(), "Image \"%s\" without calibration will be published.", imagePub_.getTopic().c_str());
#else
imagePub_ = image_transport::create_publisher(*this, "image", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos_));
#endif
RCLCPP_INFO(get_logger(), "Image \"%s\" without calibration will be published.", imagePub_.getTopic().c_str());
}
if(!odom.data().laserScanRaw().isEmpty())
rtabmap_util/src/nodelets/disparity_to_depth.cpp
+6 -1
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@@ -45,8 +45,13 @@ DisparityToDepth::DisparityToDepth(const rclcpp::NodeOptions & options) :
int qos = RMW_QOS_POLICY_RELIABILITY_SYSTEM_DEFAULT;
qos = this->declare_parameter("qos", qos);
#ifdef PRE_ROS_LYRICAL
pub32f_ = image_transport::create_publisher(this, "depth", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
pub16u_ = image_transport::create_publisher(this, "depth_raw", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
pub16u_ = image_transport::create_publisher(this, "depth_raw", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
#else
pub32f_ = image_transport::create_publisher(*this, "depth", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos));
pub16u_ = image_transport::create_publisher(*this, "depth_raw", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos));
#endif
sub_ = create_subscription<stereo_msgs::msg::DisparityImage>("disparity", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos), std::bind(&DisparityToDepth::callback, this, std::placeholders::_1));
}
rtabmap_util/src/nodelets/point_cloud_xyz.cpp
+6 -1
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@@ -157,9 +157,14 @@ PointCloudXYZ::PointCloudXYZ(const rclcpp::NodeOptions & options) :
cloudPub_ = create_publisher<sensor_msgs::msg::PointCloud2>("cloud", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos));
image_transport::TransportHints hints(this, "raw", "depth_transport");
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 hints(this, "raw", "depth_transport");
imageDepthSub_.subscribe(this, depthTopic, hints.getTransport(), rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
#else
image_transport::TransportHints hints(*this, "raw", "depth_transport");
imageDepthSub_.subscribe(*this, depthTopic, hints.getTransport(), rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos));
#endif
cameraInfoSub_.subscribe(this, "depth/camera_info", RCLCPP_QOS(topicQueueSize, qosCamInfo));
disparitySub_.subscribe(this, "disparity/image", RCLCPP_QOS(topicQueueSize, qos));
rtabmap_util/src/nodelets/point_cloud_xyzrgb.cpp
+14 -2
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@@ -186,20 +186,32 @@ PointCloudXYZRGB::PointCloudXYZRGB(const rclcpp::NodeOptions & options) :
exactSyncStereo_->registerCallback(std::bind(&PointCloudXYZRGB::stereoCallback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3, std::placeholders::_4));
}
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 don'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));
imageDisparitySub_.subscribe(this, "disparity", RCLCPP_QOS(topicQueueSize, qos));
std::string leftTopic = this->get_node_topics_interface()->resolve_topic_name("left/image"); // 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"); // Humble/Jazzy don't resolve base topic, fixed by https://github.com/ros-perception/image_common/commit/ea7589ae8c1f7ecb83d6aab7b4c890c2d630d27a
#ifdef PRE_ROS_LYRICAL
imageLeft_.subscribe(this, leftTopic, rgbHints.getTransport(), rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
imageRight_.subscribe(this, rightTopic, rgbHints.getTransport(), rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
#else
imageLeft_.subscribe(*this, leftTopic, rgbHints.getTransport(), rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos));
imageRight_.subscribe(*this, rightTopic, rgbHints.getTransport(), rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos));
#endif
cameraInfoLeft_.subscribe(this, "left/camera_info", RCLCPP_QOS(topicQueueSize, qosCamInfo));
cameraInfoRight_.subscribe(this, "right/camera_info", RCLCPP_QOS(topicQueueSize, qosCamInfo));
}
rtabmap_util/src/nodelets/pointcloud_to_depthimage.cpp
+6 -1
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@@ -107,8 +107,13 @@ PointCloudToDepthImage::PointCloudToDepthImage(const rclcpp::NodeOptions & optio
RCLCPP_INFO(this->get_logger(), " decimation=%d", decimation_);
RCLCPP_INFO(this->get_logger(), " upscale=%s (upscale_depth_error_ratio=%f)", upscale_?"true":"false", upscaleDepthErrorRatio_);
#ifdef PRE_ROS_LYRICAL
depthImage16Pub_ = image_transport::create_publisher(this, "image_raw", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile()); // 16 bits unsigned in mm
depthImage32Pub_ = image_transport::create_publisher(this, "image", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());// 32 bits float in meters
depthImage32Pub_ = image_transport::create_publisher(this, "image", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());// 32 bits float in meters
#else
depthImage16Pub_ = image_transport::create_publisher(*this, "image_raw", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos)); // 16 bits unsigned in mm
depthImage32Pub_ = image_transport::create_publisher(*this, "image", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos));// 32 bits float in meters
#endif
pointCloudTransformedPub_ = create_publisher<sensor_msgs::msg::PointCloud2>("cloud_transformed", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos));
cameraInfo16Pub_ = create_publisher<sensor_msgs::msg::CameraInfo>(depthImage16Pub_.getTopic()+"/camera_info", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qosCamInfo));
cameraInfo32Pub_ = create_publisher<sensor_msgs::msg::CameraInfo>(depthImage32Pub_.getTopic()+"/camera_info", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qosCamInfo));
rtabmap_util/src/nodelets/rgbd_split.cpp
+6 -1
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@@ -46,8 +46,13 @@ RGBDSplit::RGBDSplit(const rclcpp::NodeOptions & options) :
rgbdImageSub_ = create_subscription<rtabmap_msgs::msg::RGBDImage>("rgbd_image", rclcpp::QoS(5).reliability((rmw_qos_reliability_policy_t)qos), std::bind(&RGBDSplit::callback, this, std::placeholders::_1));
#ifdef PRE_ROS_LYRICAL
rgbPub_ = image_transport::create_publisher(this, std::string(rgbdImageSub_->get_topic_name()) + "/rgb/image", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
depthPub_ = image_transport::create_publisher(this, std::string(rgbdImageSub_->get_topic_name()) + "/depth/image", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
depthPub_ = image_transport::create_publisher(this, std::string(rgbdImageSub_->get_topic_name()) + "/depth/image", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
#else
rgbPub_ = image_transport::create_publisher(*this, std::string(rgbdImageSub_->get_topic_name()) + "/rgb/image", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos));
depthPub_ = image_transport::create_publisher(*this, std::string(rgbdImageSub_->get_topic_name()) + "/depth/image", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos));
#endif
rgbInfoPub_ = this->create_publisher<sensor_msgs::msg::CameraInfo>(std::string(rgbdImageSub_->get_topic_name()) + "/rgb/camera_info", 1);
depthInfoPub_ = this->create_publisher<sensor_msgs::msg::CameraInfo>(std::string(rgbdImageSub_->get_topic_name()) + "/depth/camera_info", 1);
}