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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_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())