Update for rtabmap 0.23.10 (#1442)

* Update for rtabmap 0.23.10

* fixing min version

* Fixed PythonInterface compilation error

* CI Added workflow_dispatch

.github/workflows/docker.yml

@@ -4,9 +4,13 @@ on:
   push:
     branches:
       - 'master'
+  workflow_dispatch:
 
 jobs:
   docker:
+    # Built and pushed only from master (push or manual dispatch), since it
+    # pushes the introlab3it/rtabmap_ros tags to Docker Hub.
+    if: github.ref == 'refs/heads/master'
     runs-on: ubuntu-latest
     
     strategy:

.github/workflows/noetic-pr.yml

@@ -4,6 +4,7 @@ on:
   pull_request:
     branches:
       - 'master'
+  workflow_dispatch:
 
 concurrency:
   group: ${{ github.workflow }}-${{ github.ref }}

rtabmap_conversions/CMakeLists.txt

@@ -7,7 +7,7 @@ find_package(catkin REQUIRED COMPONENTS
              image_geometry rtabmap_msgs
 )
 
-find_package(RTABMap 0.23.5 REQUIRED)
+find_package(RTABMap 0.23.10 REQUIRED)
 
 catkin_package(
   INCLUDE_DIRS include

rtabmap_odom/src/RGBDICPOdometryNode.cpp

@@ -73,7 +73,9 @@ int main(int argc, char **argv)
 	}
 
 #ifdef RTABMAP_PYTHON
-	rtabmap::PythonInterface pythonInterface;
+	// Initialize the embedded python interpreter on the main thread, as
+	// the nodelet below is loaded in a worker thread.
+	rtabmap::PythonInterface::instance("rgbdicp_odometry");
 #endif
 
 	nodelet::Loader nodelet;

rtabmap_odom/src/RGBDOdometryNode.cpp

@@ -73,7 +73,9 @@ int main(int argc, char **argv)
 	}
 
 #ifdef RTABMAP_PYTHON
-	rtabmap::PythonInterface pythonInterface;
+	// Initialize the embedded python interpreter on the main thread, as
+	// the nodelet below is loaded in a worker thread.
+	rtabmap::PythonInterface::instance("rgbd_odometry");
 #endif
 
 	nodelet::Loader nodelet;

rtabmap_odom/src/StereoOdometryNode.cpp

@@ -74,7 +74,9 @@ int main(int argc, char **argv)
 	}
 
 #ifdef RTABMAP_PYTHON
-	rtabmap::PythonInterface pythonInterface;
+	// Initialize the embedded python interpreter on the main thread, as
+	// the nodelet below is loaded in a worker thread.
+	rtabmap::PythonInterface::instance("stereo_odometry");
 #endif
 
 	nodelet::Loader nodelet;

rtabmap_slam/src/CoreNode.cpp

@@ -32,6 +32,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap/utilite/UStl.h>
 #include <rtabmap/utilite/UFile.h>
 #include <rtabmap/core/Version.h>
+#ifdef RTABMAP_PYTHON
+#include <rtabmap/core/PythonInterface.h>
+#endif
 #include "nodelet/loader.h"
 
 int main(int argc, char** argv)
@@ -88,6 +91,12 @@ int main(int argc, char** argv)
 		nargv.push_back(argv[i]);
 	}
 
+#ifdef RTABMAP_PYTHON
+	// Initialize the embedded python interpreter on the main thread, as
+	// the nodelet below is loaded in a worker thread.
+	rtabmap::PythonInterface::instance("rtabmap");
+#endif
+
 	nodelet::Loader nodelet;
 	nodelet::M_string remap(ros::names::getRemappings());
 	std::string nodelet_name = ros::this_node::getName();

rtabmap_slam/src/CoreWrapper.cpp

@@ -3332,10 +3332,10 @@ bool CoreWrapper::globalBundleAdjustmentCallback(rtabmap_msgs::GlobalBundleAdjus
 	UTimer timer;
 	int optimizer = (int)Optimizer::kTypeG2O; // g2o
 	int iterations = Parameters::defaultOptimizerIterations();
-	float pixelVariance = Parameters::defaultg2oPixelVariance();
+	float pixelVariance = Parameters::defaultOptimizerPixelVariance();
 	bool rematchFeatures = true;
 	Parameters::parse(parameters_, Parameters::kOptimizerIterations(), iterations);
-	Parameters::parse(parameters_, Parameters::kg2oPixelVariance(), pixelVariance);
+	Parameters::parse(parameters_, Parameters::kOptimizerPixelVariance(), pixelVariance);
 	if(req.type == 1.0f)
 	{
 		optimizer = (int)Optimizer::kTypeCVSBA;