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Lyrical support (#1433)

Browse Source 
* 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
.devcontainer/lyrical/Dockerfile
+22
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@@ -0,0 +1,22 @@
FROM introlab3it/rtabmap:resolute
# remove ubuntu user
RUN touch /var/mail/ubuntu && chown ubuntu /var/mail/ubuntu && userdel -r ubuntu
ARG USERNAME=vscode
ARG USER_UID=1000
ARG USER_GID=1000
RUN set -ex && \
groupadd --gid ${USER_GID} ${USERNAME} && \
useradd --uid ${USER_UID} --gid ${USER_GID} -m ${USERNAME} && \
usermod -a -G sudo ${USERNAME} && \
echo "${USERNAME} ALL=(ALL) NOPASSWD:ALL" > /etc/sudoers.d/${USERNAME} && \
chmod 0440 /etc/sudoers.d/${USERNAME}
RUN mkdir -p /home/${USERNAME}/ros2_ws/src && \
chown -R ${USERNAME}:${USERNAME} /home/${USERNAME}/ros2_ws
RUN echo "source /opt/ros/lyrical/setup.bash" >> /home/${USERNAME}/.bashrc
RUN echo "source /usr/share/bash-completion/completions/git" >> /home/${USERNAME}/.bashrc
.devcontainer/lyrical/devcontainer.json
+39
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@@ -0,0 +1,39 @@
{
"build": {
"dockerfile": "Dockerfile",
"pull": true
},
"remoteUser": "vscode",
"customizations": {
"vscode": {
"extensions": [
"ms-vscode.cpptools-themes",
"ms-vscode.cmake-tools",
"ms-vscode.cpptools-extension-pack",
"ms-azuretools.vscode-docker",
"ms-python.python"]
}
},
"settings": {
"python.autoComplete.extraPaths": [
"/opt/ros/kilted/lib/python3/dist-packages"
],
"terminal.integrated.defaultProfile.linux": "bash"
},
"workspaceMount": "source=${localWorkspaceFolder},target=/home/vscode/ros2_ws/src/rtabmap_ros,type=bind",
"workspaceFolder": "/home/vscode/ros2_ws",
"postCreateCommand": "sudo rosdep init && rosdep update && sudo apt update && rosdep install --from-paths ~/ros2_ws/src/rtabmap_ros -i --skip-keys=\"rtabmap nav2_msgs grid_map_ros nav2_costmap_2d nav2_bringup realsense2_camera velodyne\" -y && echo 'Initialize: export MAKEFLAGS=\"-j6\" && colcon build --cmake-args -DRTABMAP_SYNC_MULTI_RGBD=ON -DCMAKE_BUILD_TYPE=Release --parallel-workers 2'",
"hostRequirements": {
"gpu": "optional"
},
"runArgs": ["--privileged",
"--network=host",
"--gpus=all",
//"--runtime=nvidia", // uncommment this if rtabmap doesn't show up in nvidia-smi on the host computer
"--env=DISPLAY",
"--env=QT_X11_NO_MITSHM=1",
"--volume=/tmp/.X11-unix:/tmp/.X11-unix"],
"containerEnv": {
"NVIDIA_VISIBLE_DEVICES": "all"
}
}
.devcontainer/rolling/Dockerfile
+1 -1
View File
@@ -1,5 +1,5 @@
FROM ubuntu:24.04
FROM ubuntu:26.04
ENV DEBIAN_FRONTEND=noninteractive
.github/workflows/docker-ros2.yml
+28 -5
View File
@@ -2,8 +2,13 @@ name: docker
on:
push:
branches:
- 'ros2'
branches: [ ros2 ]
pull_request:
branches: [ ros2 ]
concurrency:
group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
cancel-in-progress: ${{ github.event_name == 'pull_request' }}
jobs:
docker:
@@ -12,7 +17,7 @@ jobs:
strategy:
fail-fast: false
matrix:
docker_tag: [humble, humble-latest, jazzy, jazzy-latest, kilted-latest]
docker_tag: [humble, humble-latest, jazzy, jazzy-latest, kilted, kilted-latest, lyrical-latest]
include:
- docker_tag: humble
docker_path: 'humble'
@@ -33,8 +38,23 @@ jobs:
docker_platforms: |
linux/amd64
linux/arm64
- docker_tag: kilted
docker_path: 'kilted'
docker_platforms: |
linux/amd64
linux/arm64
- docker_tag: kilted-latest
docker_path: 'kilted/latest'
docker_platforms: |
linux/amd64
#Disabled till rtabmap_ros is released on lyrical
#- docker_tag: lyrical
# docker_path: 'lyrical'
# docker_platforms: |
# linux/amd64
# linux/arm64
- docker_tag: lyrical-latest
docker_path: 'lyrical/latest'
docker_platforms: |
linux/amd64
linux/arm64
@@ -53,6 +73,9 @@ jobs:
uses: docker/setup-buildx-action@v3
-
name: Login to DockerHub
# Only needed when pushing; skipped on pull requests (secrets are
# unavailable for fork PRs and we don't push there anyway).
if: github.event_name != 'pull_request'
uses: docker/login-action@v3
with:
username: ${{ secrets.DOCKERHUB_USERNAME }}
@@ -62,8 +85,8 @@ jobs:
uses: docker/build-push-action@v6
with:
context: .
push: true
platforms: ${{ matrix.docker_platforms }}
push: ${{ github.event_name != 'pull_request' }}
platforms: ${{ github.event_name == 'pull_request' && 'linux/amd64' || matrix.docker_platforms }}
file: ./docker/${{ matrix.docker_path }}/Dockerfile
tags: introlab3it/rtabmap_ros:${{ matrix.docker_tag }}
no-cache: true
.github/workflows/ros2.yml
+5 -5
View File
@@ -20,7 +20,7 @@ jobs:
runs-on: ubuntu-latest
strategy:
matrix:
ros_distro: [humble, jazzy, kilted, rolling]
ros_distro: [humble, jazzy, kilted, lyrical, rolling]
include:
- ros_distro: humble
skip_keys: ''
@@ -31,10 +31,10 @@ jobs:
- ros_distro: kilted
skip_keys: 'grid_map_ros'
packages: 'rtabmap_ros'
#- ros_distro: lyrical
# skip_keys: 'nav2_bringup nav2_msgs velodyne'
# # rtabmap_costmap_plugins cannot be built, missing nav2 on lyrical, build other packages:
# packages: 'rtabmap_launch rtabmap_demos rtabmap_python rtabmap_examples rtabmap_rviz_plugins'
- ros_distro: lyrical
skip_keys: 'nav2_bringup nav2_msgs velodyne grid_map_ros realsense2_camera libpointmatcher'
# rtabmap_costmap_plugins cannot be built, missing nav2 on lyrical, build other packages:
packages: 'rtabmap_launch rtabmap_demos rtabmap_python rtabmap_examples rtabmap_rviz_plugins'
- ros_distro: rolling
skip_keys: 'nav2_bringup nav2_msgs velodyne'
# rtabmap_costmap_plugins cannot be built, missing nav2 on rolling, build other packages:
docker/humble/latest/Dockerfile
+1 -1
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@@ -12,6 +12,6 @@ RUN source /ros_entrypoint.sh && \
apt-get update && \
rosdep install --from-paths src --ignore-src -r -y -t build_export -t test -t build -t buildtool_export -t buildtool --skip-keys="rtabmap" && \
apt-get clean && rm -rf /var/lib/apt/lists/ && \
colcon build --executor sequential --event-handlers console_direct+ --install-base /opt/ros/humble --merge-install --cmake-args --debug-find -DRTABMAP_SYNC_MULTI_RGBD=ON -DCMAKE_BUILD_TYPE=Release && \
colcon build --executor sequential --event-handlers console_direct+ --install-base /opt/ros/humble --merge-install --cmake-args -DRTABMAP_SYNC_MULTI_RGBD=ON -DCMAKE_BUILD_TYPE=Release && \
cd && \
rm -rf ros2_ws
docker/jazzy/latest/Dockerfile
+1 -1
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@@ -14,6 +14,6 @@ RUN source /ros_entrypoint.sh && \
apt-get update && \
rosdep install --from-paths src --ignore-src -r -y -t build_export -t test -t build -t buildtool_export -t buildtool --skip-keys="rtabmap grid_map_ros" && \
apt-get clean && rm -rf /var/lib/apt/lists/ && \
colcon build --event-handlers console_direct+ --install-base /opt/ros/$ROS_DISTRO --merge-install --cmake-args --debug-find -DRTABMAP_SYNC_MULTI_RGBD=ON -DCMAKE_BUILD_TYPE=Release && \
colcon build --event-handlers console_direct+ --install-base /opt/ros/$ROS_DISTRO --merge-install --cmake-args -DRTABMAP_SYNC_MULTI_RGBD=ON -DCMAKE_BUILD_TYPE=Release && \
cd && \
rm -rf ros2_ws
docker/kilted/latest/Dockerfile
+1 -1
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@@ -14,6 +14,6 @@ RUN source /ros_entrypoint.sh && \
apt-get update && \
rosdep install --from-paths src --ignore-src -r -y -t build_export -t test -t build -t buildtool_export -t buildtool --skip-keys="rtabmap nav2_bringup realsense2_camera nav2_msgs grid_map_ros" && \
apt-get clean && rm -rf /var/lib/apt/lists/ && \
colcon build --event-handlers console_direct+ --install-base /opt/ros/$ROS_DISTRO --merge-install --cmake-args --debug-find -DRTABMAP_SYNC_MULTI_RGBD=ON -DCMAKE_BUILD_TYPE=Release && \
colcon build --event-handlers console_direct+ --install-base /opt/ros/$ROS_DISTRO --merge-install --cmake-args -DRTABMAP_SYNC_MULTI_RGBD=ON -DCMAKE_BUILD_TYPE=Release && \
cd && \
rm -rf ros2_ws
docker/lyrical/Dockerfile
+6
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@@ -0,0 +1,6 @@
FROM osrf/ros:lyrical-desktop
# install rtabmap packages
RUN apt-get update && apt-get install -y \
ros-lyrical-rtabmap \
ros-lyrical-rtabmap-ros \
&& rm -rf /var/lib/apt/lists/
docker/lyrical/latest/Dockerfile
+19
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@@ -0,0 +1,19 @@
FROM introlab3it/rtabmap:resolute
RUN source /ros_entrypoint.sh && \
mkdir -p ros2_ws/src && \
cd ros2_ws/src
COPY . ros2_ws/src/rtabmap_ros
RUN source /ros_entrypoint.sh && \
cd ros2_ws && \
export MAKEFLAGS="-j2" && \
rosdep init && \
rosdep update && \
apt-get update && \
rosdep install --from-paths src --ignore-src -r -y -t build_export -t test -t build -t buildtool_export -t buildtool --skip-keys="rtabmap nav2_bringup realsense2_camera nav2_msgs grid_map_ros nav2_costmap_2d" && \
apt-get clean && rm -rf /var/lib/apt/lists/ && \
colcon build --packages-skip rtabmap_costmap_plugins rtabmap_ros --event-handlers console_direct+ --install-base /opt/ros/$ROS_DISTRO --merge-install --cmake-args -DRTABMAP_SYNC_MULTI_RGBD=ON -DCMAKE_BUILD_TYPE=Release && \
cd && \
rm -rf ros2_ws
rtabmap_conversions/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_conversions</name>
<version>0.22.1</version>
<version>0.23.7</version>
<description>RTAB-Map's conversions package. This package can be used to convert rtabmap_msgs's msgs into RTAB-Map's library objects.</description>
<maintainer email="matlabbe@gmail.com">Mathieu Labbe</maintainer>
<author>Mathieu Labbe</author>
rtabmap_costmap_plugins/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_costmap_plugins</name>
<version>0.22.1</version>
<version>0.23.7</version>
<description>RTAB-Map's costmap plugins.</description>
<maintainer email="matlabbe@gmail.com">Mathieu Labbe</maintainer>
<author>Mathieu Labbe</author>
rtabmap_demos/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_demos</name>
<version>0.22.1</version>
<version>0.23.7</version>
<description>RTAB-Map's demo launch files.</description>
<maintainer email="matlabbe@gmail.com">Mathieu Labbe</maintainer>
<author>Mathieu Labbe</author>
rtabmap_examples/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_examples</name>
<version>0.22.1</version>
<version>0.23.7</version>
<description>RTAB-Map's example launch files.</description>
<maintainer email="matlabbe@gmail.com">Mathieu Labbe</maintainer>
<author>Mathieu Labbe</author>
rtabmap_launch/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_launch</name>
<version>0.22.1</version>
<version>0.23.7</version>
<description>RTAB-Map's main launch files.</description>
<maintainer email="matlabbe@gmail.com">Mathieu Labbe</maintainer>
<author>Mathieu Labbe</author>
rtabmap_msgs/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_msgs</name>
<version>0.22.1</version>
<version>0.23.7</version>
<description>RTAB-Map's msgs package.</description>
<maintainer email="matlabbe@gmail.com">Mathieu Labbe</maintainer>
<author>Mathieu Labbe</author>
rtabmap_odom/CMakeLists.txt
+4
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@@ -74,6 +74,10 @@ SET(AmentLibraries
rtabmap_sync
)
IF("$ENV{ROS_DISTRO}" STRLESS "lyrical")
add_definitions(-DPRE_ROS_LYRICAL)
ENDIF()
###########
## Build ##
###########
rtabmap_odom/include/rtabmap_odom/OdometryROS.h
+3 -3
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@@ -30,9 +30,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rclcpp/rclcpp.hpp"
#include <tf2_ros/transform_broadcaster.h>
#include <tf2_ros/buffer.h>
#include <tf2_ros/transform_listener.h>
#include <tf2_ros/transform_broadcaster.hpp>
#include <tf2_ros/buffer.hpp>
#include <tf2_ros/transform_listener.hpp>
#include <diagnostic_updater/diagnostic_updater.hpp>
rtabmap_odom/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_odom</name>
<version>0.22.1</version>
<version>0.23.7</version>
<description>RTAB-Map's odometry package.</description>
<maintainer email="matlabbe@gmail.com">Mathieu Labbe</maintainer>
<author>Mathieu Labbe</author>
rtabmap_odom/src/nodelets/rgbd_odometry.cpp
+9 -2
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@@ -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);
rtabmap_python/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_python</name>
<version>0.22.1</version>
<version>0.23.7</version>
<description>RTAB-Map's python package.</description>
<maintainer email="matlabbe@gmail.com">Mathieu Labbe</maintainer>
<author>Mathieu Labbe</author>
rtabmap_python/rtabmap_python/compression.py → rtabmap_python/rtabmap_python/cv_compression.py
View File
rtabmap_python/setup.py
+3 -1
View File
@@ -17,7 +17,9 @@ setup(
maintainer_email='matlabbe@gmail.com',
description="RTAB-Map's python package.",
license='BSD',
tests_require=['pytest'],
extras_require={
'test': ['pytest'],
},
entry_points={
'console_scripts': [
],
rtabmap_ros/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_ros</name>
<version>0.22.1</version>
<version>0.23.7</version>
<description>
RTAB-Map Stack
</description>
rtabmap_rviz_plugins/package.xml
+1 -1
View File
@@ -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_rviz_plugins</name>
<version>0.22.1</version>
<version>0.23.7</version>
<description>RTAB-Map's rviz plugins.</description>
<maintainer email="matlabbe@gmail.com">Mathieu Labbe</maintainer>
<author>Mathieu Labbe</author>
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
View File
@@ -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="matlabbe@gmail.com">Mathieu Labbe</maintainer>
<author>Mathieu Labbe</author>
rtabmap_slam/src/CoreWrapper.cpp
+6 -2
View File
@@ -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());
}
rtabmap_sync/CMakeLists.txt
+4
View File
@@ -82,6 +82,10 @@ SET(AmentLibraries
diagnostic_updater
)
IF("$ENV{ROS_DISTRO}" STRLESS "lyrical")
add_definitions(-DPRE_ROS_LYRICAL)
ENDIF()
###########
## Build ##
###########
rtabmap_sync/package.xml
+1 -1
View File
@@ -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_sync</name>
<version>0.22.1</version>
<version>0.23.7</version>
<description>RTAB-Map's synchronization package.</description>
<maintainer email="matlabbe@gmail.com">Mathieu Labbe</maintainer>
<author>Mathieu Labbe</author>
rtabmap_sync/src/impl/CommonDataSubscriberDepth.cpp
+9 -2
View File
@@ -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
View File
@@ -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));
rtabmap_util/CMakeLists.txt
+4
View File
@@ -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
View File
@@ -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
View File
@@ -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
View File
@@ -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
View File
@@ -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
View File
@@ -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
View File
@@ -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
View File
@@ -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
View File
@@ -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="matlabbe@gmail.com">Mathieu Labbe</maintainer>
<author>Mathieu Labbe</author>
rtabmap_util/scripts/netvlad_tf_ros.py
+1 -1
View File
@@ -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
View File
@@ -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
+20
View File
@@ -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()) {
@@ -274,7 +290,11 @@ 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());
#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());
}
rtabmap_util/src/nodelets/disparity_to_depth.cpp
+5
View File
@@ -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());
#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
View File
@@ -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
View File
@@ -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
+5
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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
#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
+5
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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());
#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);
}
rtabmap_viz/include/rtabmap_viz/GuiWrapper.h
+2 -2
View File
@@ -38,8 +38,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/utilite/UEventsHandler.h"
#include "rtabmap/core/Transform.h"
#include <tf2_ros/buffer.h>
#include <tf2_ros/transform_listener.h>
#include <tf2_ros/buffer.hpp>
#include <tf2_ros/transform_listener.hpp>
#include <geometry_msgs/msg/twist_stamped.hpp>
#include <nav_msgs/msg/path.hpp>
rtabmap_viz/include/rtabmap_viz/rgbd_image_viewer.hpp
+2 -2
View File
@@ -32,8 +32,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rclcpp/rclcpp.hpp>
#include <QMainWindow>
#include "rtabmap_msgs/msg/rgbd_image.hpp"
#include <tf2_ros/buffer.h>
#include <tf2_ros/transform_listener.h>
#include <tf2_ros/buffer.hpp>
#include <tf2_ros/transform_listener.hpp>
#include <rtabmap/core/Parameters.h>
#include <rtabmap/utilite/UEventsSender.h>
rtabmap_viz/package.xml
+1 -1
View File
@@ -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_viz</name>
<version>0.22.1</version>
<version>0.23.7</version>
<description>RTAB-Map's visualization package.</description>
<maintainer email="matlabbe@gmail.com">Mathieu Labbe</maintainer>
<author>Mathieu Labbe</author>