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merged ros2 -> humble-devel

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matlabbe
2025-07-12 10:50:59 -07:00
parent f2b0aa7cee 0918c60dc1
commit 398710acda
29 changed files with 681 additions and 105 deletions
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.github/workflows/ros1.yml
-67
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@@ -1,67 +0,0 @@
name: ros1
on:
push:
branches: [ master ]
pull_request:
branches: [ master ]
env:
# Customize the CMake build type here (Release, Debug, RelWithDebInfo, etc.)
BUILD_TYPE: Release
jobs:
build:
# Disabling because Ubuntu 20.04 doesn't exist anymore on CI:
# This is a scheduled Ubuntu 20.04 retirement. Ubuntu 20.04 LTS
# runner will be removed on 2025-04-15. For more details, see https://github.com/actions/runner-images/issues/11101
if: false
# The CMake configure and build commands are platform agnostic and should work equally
# well on Windows or Mac. You can convert this to a matrix build if you need
# cross-platform coverage.
# See: https://docs.github.com/en/free-pro-team@latest/actions/learn-github-actions/managing-complex-workflows#using-a-build-matrix
name: Build on ros ${{ matrix.ros_distro }} and ${{ matrix.os }}
runs-on: ${{ matrix.os }}
strategy:
matrix:
os: [ubuntu-20.04]
include:
- os: ubuntu-20.04
ros_distro: 'noetic'
steps:
- uses: ros-tooling/[email protected]
with:
required-ros-distributions: ${{ matrix.ros_distro }}
- name: Install dependencies
run: |
sudo apt-get update
sudo apt-get -y install ros-${{ matrix.ros_distro }}-rtabmap-ros python3-catkin-tools
sudo apt-get -y remove ros-${{ matrix.ros_distro }}-rtabmap
sudo pip3 uninstall empy --yes
- name: Setup catkin workspace
run: |
source /opt/ros/${{ matrix.ros_distro }}/setup.bash
mkdir -p ${{github.workspace}}/catkin_ws/src
cd ${{github.workspace}}/catkin_ws/src
cd ..
catkin config --init --cmake-args -DSETUPTOOLS_DEB_LAYOUT=OFF -DCMAKE_C_FLAGS="-Wformat -Werror=format-security" -DCMAKE_CXX_FLAGS="-Wformat -Werror=format-security"
- uses: actions/checkout@v2
with:
repository: 'introlab/rtabmap'
path: 'catkin_ws/src/rtabmap'
- uses: actions/checkout@v2
with:
path: 'catkin_ws/src/rtabmap_ros'
- name: caktkin build
run: |
source /opt/ros/${{ matrix.ros_distro }}/setup.bash
cd ${{github.workspace}}/catkin_ws
catkin build -p 1 -i --verbose
.github/workflows/ros2.yml
+4
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@@ -17,6 +17,9 @@ jobs:
strategy:
matrix:
ros_distro: [humble]
include:
- ros_distro: humble
skip_keys: ''
fail-fast: false
container:
image: osrf/ros:${{ matrix.ros_distro }}-desktop-full
@@ -34,3 +37,4 @@ jobs:
target-ros2-distro: ${{ matrix.ros_distro }}
vcs-repo-file-url: /tmp/deps.repos
rosdep-check: true
rosdep-skip-keys: "${{ matrix.skip_keys }}"
docker/humble/latest/Dockerfile
+5 -8
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@@ -1,20 +1,17 @@
FROM introlab3it/rtabmap:22.04
FROM introlab3it/rtabmap:jammy
RUN source /ros_entrypoint.sh && \
mkdir -p ros2_ws/src && \
cd ros2_ws/src
RUN mkdir -p ros2_ws/src
COPY . ros2_ws/src/rtabmap_ros
RUN source /ros_entrypoint.sh && \
cd ros2_ws && \
export MAKEFLAGS="-j1" && \
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 && \
apt remove ros-$ROS_DISTRO-rtabmap* -y && \
rosdep install --from-paths src --ignore-src -r -y -t build_export -t test -t build -t buildtool_export -t buildtool --skip-keys="rtabmap" && \
apt-get clean && rm -rf /var/lib/apt/lists/ && \
colcon build --event-handlers console_direct+ --install-base /opt/ros/humble --merge-install --cmake-args -DRTABMAP_SYNC_MULTI_RGBD=ON -DCMAKE_BUILD_TYPE=Release && \
colcon build --executor sequential --event-handlers console_direct+ --install-base /opt/ros/humble --merge-install --cmake-args --debug-find -DRTABMAP_SYNC_MULTI_RGBD=ON -DCMAKE_BUILD_TYPE=Release && \
cd && \
rm -rf ros2_ws
docker/humble/latest/hooks/build
-2
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@@ -1,2 +0,0 @@
#!/bin/bash
docker build --build-arg CACHE_DATE="$(date)" --cache-from $IMAGE_NAME -f $DOCKERFILE_PATH -t $IMAGE_NAME -t $DOCKER_REPO:humble-latest .
docker/jazzy/latest/Dockerfile
+3 -3
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@@ -1,4 +1,4 @@
FROM introlab3it/rtabmap:24.04
FROM introlab3it/rtabmap:noble
RUN source /ros_entrypoint.sh && \
mkdir -p ros2_ws/src && \
@@ -8,12 +8,12 @@ COPY . ros2_ws/src/rtabmap_ros
RUN source /ros_entrypoint.sh && \
cd ros2_ws && \
export MAKEFLAGS="-j1" && \
export MAKEFLAGS="-j2" && \
rosdep init && \
rosdep update && \
apt-get update && \
rosdep install --from-paths src --ignore-src -r -y -t build_export -t test -t build -t buildtool_export -t buildtool --skip-keys="rtabmap grid_map_ros" && \
apt-get clean && rm -rf /var/lib/apt/lists/ && \
colcon build --event-handlers console_direct+ --install-base /opt/ros/$ROS_DISTRO --merge-install --cmake-args -DRTABMAP_SYNC_MULTI_RGBD=ON -DCMAKE_BUILD_TYPE=Release && \
colcon build --event-handlers console_direct+ --install-base /opt/ros/$ROS_DISTRO --merge-install --cmake-args --debug-find -DRTABMAP_SYNC_MULTI_RGBD=ON -DCMAKE_BUILD_TYPE=Release && \
cd && \
rm -rf ros2_ws
docker/kilted/latest/Dockerfile
+3 -3
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@@ -1,4 +1,4 @@
FROM introlab3it/rtabmap:24.04
FROM introlab3it/rtabmap:noble-kilted
RUN source /ros_entrypoint.sh && \
mkdir -p ros2_ws/src && \
@@ -8,12 +8,12 @@ COPY . ros2_ws/src/rtabmap_ros
RUN source /ros_entrypoint.sh && \
cd ros2_ws && \
export MAKEFLAGS="-j1" && \
export MAKEFLAGS="-j2" && \
rosdep init && \
rosdep update && \
apt-get update && \
rosdep install --from-paths src --ignore-src -r -y -t build_export -t test -t build -t buildtool_export -t buildtool --skip-keys="rtabmap nav2_bringup realsense2_camera nav2_msgs grid_map_ros" && \
apt-get clean && rm -rf /var/lib/apt/lists/ && \
colcon build --event-handlers console_direct+ --install-base /opt/ros/$ROS_DISTRO --merge-install --cmake-args -DRTABMAP_SYNC_MULTI_RGBD=ON -DCMAKE_BUILD_TYPE=Release && \
colcon build --event-handlers console_direct+ --install-base /opt/ros/$ROS_DISTRO --merge-install --cmake-args --debug-find -DRTABMAP_SYNC_MULTI_RGBD=ON -DCMAKE_BUILD_TYPE=Release && \
cd && \
rm -rf ros2_ws
rtabmap_conversions/CMakeLists.txt
+10
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@@ -5,6 +5,16 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
if(CMAKE_SYSTEM_PROCESSOR STREQUAL "aarch64")
# issues #1285 #1288
find_library(
builtin_interfaces__rosidl_generator_c_LIB NAMES builtin_interfaces__rosidl_generator_c
PATHS "/opt/ros/$ENV{ROS_DISTRO}/lib"
NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH REQUIRED
)
endif()
find_package(ament_cmake REQUIRED)
find_package(cv_bridge REQUIRED)
find_package(geometry_msgs REQUIRED)
rtabmap_demos/README.md
+9
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@@ -7,6 +7,7 @@
+ [Turtlebot3 Nav2 and 2D LiDAR SLAM](#turtlebot3-nav2-and-2d-lidar-slam)
+ [Turtlebot3 Nav2 and RGB-D SLAM](#turtlebot3-nav2-and-rgb-d-slam)
+ [Turtlebot3 Nav2, 2D LiDAR and RGB-D SLAM](#turtlebot3-nav2-2d-lidar-and-rgb-d-slam)
+ [Turtlebot3 Nav2, Fake 2D LiDAR and RGB-D SLAM](#turtlebot3-nav2-fake-2d-lidar-and-rgb-d-slam)
+ [Champ Quadruped Nav2, Elevation Map and VSLAM](#champ-quadruped-nav2-elevation-map-and-vslam)
+ [Clearpath Husky Nav2, 2D LiDAR and RGB-D SLAM](#clearpath-husky-nav2-2d-lidar-and-rgb-d-slam)
+ [Clearpath Husky Nav2, 3D LiDAR and RGB-D SLAM](#clearpath-husky-nav2-3d-lidar-and-rgb-d-slam)
@@ -50,6 +51,14 @@
[turtlebot3_sim_rgbd_scan_demo.launch.py](https://github.com/introlab/rtabmap_ros/blob/ros2/rtabmap_demos/launch/turtlebot3/turtlebot3_sim_rgbd_scan_demo.launch.py)
![Peek 2024-11-29 13-41](https://github.com/user-attachments/assets/2e878158-b1b6-48a4-801c-72cdb41b4783)
### Turtlebot3 Nav2, Fake 2D LiDAR and RGB-D SLAM
[turtlebot3_sim_rgbd_fake_scan_demo.launch.py](https://github.com/introlab/rtabmap_ros/blob/ros2/rtabmap_demos/launch/turtlebot3/turtlebot3_sim_rgbd_fake_scan_demo.launch.py)
* Red: Scan generated from camera's depth.
* Orange: Locally assembled scans used for proximity detection.
* Yellow: The map.
![Peek 2025-07-04 16-57](https://github.com/user-attachments/assets/8869cf57-35a1-4236-bdab-151b88ae2ea1)
### Champ Quadruped Nav2, Elevation Map and VSLAM
[champ_sim_vslam.launch.py](https://github.com/introlab/rtabmap_ros/blob/ros2/rtabmap_demos/launch/champ/champ_sim_vslam.launch.py)
rtabmap_demos/launch/turtlebot3/turtlebot3_rgbd_fake_scan.launch.py
+143
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@@ -0,0 +1,143 @@
# Example:
#
# Bringup turtlebot3:
# $ export TURTLEBOT3_MODEL=waffle
# $ export LDS_MODEL=LDS-01
# $ ros2 launch turtlebot3_bringup robot.launch.py
#
# SLAM:
# $ ros2 launch rtabmap_demos turtlebot3_rgbd_fake_scan.launch.py
#
# Navigation (install nav2_bringup package):
# $ ros2 launch nav2_bringup navigation_launch.py
# $ ros2 launch nav2_bringup rviz_launch.py
#
# Teleop:
# $ ros2 run turtlebot3_teleop teleop_keyboard
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, SetEnvironmentVariable
from launch.substitutions import LaunchConfiguration
from launch.conditions import IfCondition, UnlessCondition
from launch_ros.actions import Node
def generate_launch_description():
use_sim_time = LaunchConfiguration('use_sim_time')
localization = LaunchConfiguration('localization')
parameters={
'frame_id':'base_footprint',
'use_sim_time':use_sim_time,
'subscribe_rgbd':True,
'subscribe_scan_cloud':True,
'use_action_for_goal':True,
'scan_cloud_is_2d': True,
# RTAB-Map's parameters should be strings:
'Reg/Strategy':'1',
'Reg/Force3DoF':'true',
'Optimizer/GravitySigma':'0' # Disable imu constraints (we are already in 2D)
}
remappings=[
('rgb/image', '/camera/image_raw'),
('rgb/camera_info', '/camera/camera_info'),
('depth/image', '/camera/depth/image_raw'),
('scan_cloud', 'assembled_cloud')]
return LaunchDescription([
# Launch arguments
DeclareLaunchArgument(
'use_sim_time', default_value='false',
description='Use simulation (Gazebo) clock if true'),
DeclareLaunchArgument(
'localization', default_value='false',
description='Launch in localization mode.'),
# Nodes to launch
Node(
package='rtabmap_sync', executable='rgbd_sync', output='screen',
parameters=[{'approx_sync':False, 'use_sim_time':use_sim_time}],
remappings=remappings),
# Convert middle row of depth pixels to a fake laser scan
Node(
package='depthimage_to_laserscan', executable='depthimage_to_laserscan_node', output='screen',
parameters=[{
'use_sim_time':use_sim_time,
'range_max': 5.0
}],
remappings=[
('depth', '/camera/depth/image_raw'),
('depth_camera_info', '/camera/camera_info'),
('scan', '/camera/scan')
]),
# Just to convert the fake laser scan to PointCloud2
Node(
package='rtabmap_util', executable='lidar_deskewing', output='screen',
parameters=[{'use_sim_time':use_sim_time,
'fixed_frame_id': 'camera_link'}], # use camera frame
remappings=[
('input_scan', '/camera/scan')
]),
# Assemble the fake laser scans using a circular buffer, then feed that cloud to rtabmap
Node(
package='rtabmap_util', executable='point_cloud_assembler', output='screen',
parameters=[{'use_sim_time':use_sim_time,
'max_clouds': 20,
'voxel_size': 0.05,
'wait_for_transform': 1.0,
'linear_update': 0.3,
'angular_update': 0.5,
'circular_buffer': True,
'frame_id': 'base_link'}],
remappings=[
('assembled_cloud', 'assembled_cloud'),
('cloud', '/camera/scan/deskewed')
]),
# SLAM Mode:
Node(
condition=UnlessCondition(localization),
package='rtabmap_slam', executable='rtabmap', output='screen',
parameters=[parameters],
remappings=remappings,
arguments=['-d']),
# Localization mode:
Node(
condition=IfCondition(localization),
package='rtabmap_slam', executable='rtabmap', output='screen',
parameters=[parameters,
{'Mem/IncrementalMemory':'False',
'Mem/InitWMWithAllNodes':'True'}],
remappings=remappings),
Node(
package='rtabmap_viz', executable='rtabmap_viz', output='screen',
parameters=[parameters],
remappings=remappings),
# Obstacle detection with the camera for nav2 local costmap.
# First, we need to convert depth image to a point cloud.
# Second, we segment the floor from the obstacles.
Node(
package='rtabmap_util', executable='point_cloud_xyz', output='screen',
parameters=[{'decimation': 2,
'max_depth': 3.0,
'voxel_size': 0.02}],
remappings=[('depth/image', '/camera/depth/image_raw'),
('depth/camera_info', '/camera/camera_info'),
('cloud', '/camera/cloud')]),
Node(
package='rtabmap_util', executable='obstacles_detection', output='screen',
parameters=[parameters],
remappings=[('cloud', '/camera/cloud'),
('obstacles', '/camera/obstacles'),
('ground', '/camera/ground')]),
])
rtabmap_demos/launch/turtlebot3/turtlebot3_sim_rgbd_fake_scan_demo.launch.py
+117
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@@ -0,0 +1,117 @@
# Requirements:
# Install Turtlebot3 packages
# Modify turtlebot3_waffle SDF:
# 1) Edit /opt/ros/$ROS_DISTRO/share/turtlebot3_gazebo/models/turtlebot3_waffle/model.sdf
# 2) Add
# <joint name="camera_rgb_optical_joint" type="fixed">
# <parent>camera_rgb_frame</parent>
# <child>camera_rgb_optical_frame</child>
# <pose>0 0 0 -1.57079632679 0 -1.57079632679</pose>
# <axis>
# <xyz>0 0 1</xyz>
# </axis>
# </joint>
# 3) Rename <link name="camera_rgb_frame"> to <link name="camera_rgb_optical_frame">
# 4) Add <link name="camera_rgb_frame"/>
# 5) Change <sensor name="camera" type="camera"> to <sensor name="camera" type="depth">
# 6) Change image width/height from 1920x1080 to 640x480
# Example:
# $ ros2 launch rtabmap_demos turtlebot3_sim_rgbd_fake_scan_demo.launch.py
#
# Teleop:
# $ ros2 run turtlebot3_teleop teleop_keyboard
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, OpaqueFunction
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch_ros.substitutions import FindPackageShare
import os
def launch_setup(context, *args, **kwargs):
if not 'TURTLEBOT3_MODEL' in os.environ:
os.environ['TURTLEBOT3_MODEL'] = 'waffle'
# Directories
pkg_turtlebot3_gazebo = get_package_share_directory(
'turtlebot3_gazebo')
pkg_nav2_bringup = get_package_share_directory(
'nav2_bringup')
pkg_rtabmap_demos = get_package_share_directory(
'rtabmap_demos')
world = LaunchConfiguration('world').perform(context)
nav2_params_file = PathJoinSubstitution(
[FindPackageShare('rtabmap_demos'), 'params', 'turtlebot3_rgbd_nav2_params.yaml']
)
# Paths
gazebo_launch = PathJoinSubstitution(
[pkg_turtlebot3_gazebo, 'launch', f'turtlebot3_{world}.launch.py'])
nav2_launch = PathJoinSubstitution(
[pkg_nav2_bringup, 'launch', 'navigation_launch.py'])
rviz_launch = PathJoinSubstitution(
[pkg_nav2_bringup, 'launch', 'rviz_launch.py'])
rtabmap_launch = PathJoinSubstitution(
[pkg_rtabmap_demos, 'launch', 'turtlebot3', 'turtlebot3_rgbd_fake_scan.launch.py'])
# Includes
gazebo = IncludeLaunchDescription(
PythonLaunchDescriptionSource([gazebo_launch]),
launch_arguments=[
('x_pose', LaunchConfiguration('x_pose')),
('y_pose', LaunchConfiguration('y_pose'))
]
)
nav2 = IncludeLaunchDescription(
PythonLaunchDescriptionSource([nav2_launch]),
launch_arguments=[
('use_sim_time', 'true'),
('params_file', nav2_params_file)
]
)
rviz = IncludeLaunchDescription(
PythonLaunchDescriptionSource([rviz_launch])
)
rtabmap = IncludeLaunchDescription(
PythonLaunchDescriptionSource([rtabmap_launch]),
launch_arguments=[
('localization', LaunchConfiguration('localization')),
('use_sim_time', 'true')
]
)
return [
# Nodes to launch
nav2,
rviz,
rtabmap,
gazebo
]
def generate_launch_description():
return LaunchDescription([
# Launch arguments
DeclareLaunchArgument(
'localization', default_value='false',
description='Launch in localization mode.'),
DeclareLaunchArgument(
'world', default_value='house',
choices=['world', 'house', 'dqn_stage1', 'dqn_stage2', 'dqn_stage3', 'dqn_stage4'],
description='Turtlebot3 gazebo world.'),
DeclareLaunchArgument(
'x_pose', default_value='-2.0',
description='Initial position of the robot in the simulator.'),
DeclareLaunchArgument(
'y_pose', default_value='0.5',
description='Initial position of the robot in the simulator.'),
OpaqueFunction(function=launch_setup)
])
rtabmap_msgs/CMakeLists.txt
+9
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@@ -10,6 +10,15 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
if(CMAKE_SYSTEM_PROCESSOR STREQUAL "aarch64")
# issues #1285 #1288
find_library(
rcutils_LIB NAMES rcutils
PATHS "/opt/ros/$ENV{ROS_DISTRO}/lib"
NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH REQUIRED
)
endif()
##################
## Dependencies ##
##################
rtabmap_msgs/package.xml
+2
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@@ -14,6 +14,8 @@
<buildtool_depend>rosidl_default_generators</buildtool_depend>
<build_depend>ros_environment</build_depend>
<depend>builtin_interfaces</depend>
<depend>std_msgs</depend>
<depend>std_srvs</depend>
rtabmap_odom/CMakeLists.txt
+9
View File
@@ -10,6 +10,15 @@ if(POLICY CMP0074)
cmake_policy(SET CMP0074 NEW)
endif()
if(CMAKE_SYSTEM_PROCESSOR STREQUAL "aarch64")
# issues #1285 #1288
find_library(
builtin_interfaces__rosidl_generator_c_LIB NAMES builtin_interfaces__rosidl_generator_c
PATHS "/opt/ros/$ENV{ROS_DISTRO}/lib"
NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH REQUIRED
)
endif()
find_package(ament_cmake_ros REQUIRED)
find_package(cv_bridge REQUIRED)
find_package(image_geometry REQUIRED)
rtabmap_odom/include/rtabmap_odom/OdometryROS.h
+1
View File
@@ -173,6 +173,7 @@ private:
rtabmap::Transform guess_;
rtabmap::Transform guessPreviousPose_;
double previousStamp_;
double previousClockTime_;
double expectedUpdateRate_;
double maxUpdateRate_;
double minUpdateRate_;
rtabmap_odom/package.xml
+2
View File
@@ -12,6 +12,8 @@
<buildtool_depend>ament_cmake_ros</buildtool_depend>
<build_depend>ros_environment</build_depend>
<depend>cv_bridge</depend>
<depend>image_geometry</depend>
<depend>laser_geometry</depend>
rtabmap_odom/src/OdometryROS.cpp
+79 -5
View File
@@ -84,7 +84,11 @@ OdometryROS::OdometryROS(const std::string & name, const rclcpp::NodeOptions & o
paused_(false),
resetCountdown_(0),
resetCurrentCount_(0),
stereoParams_(false),
visParams_(false),
icpParams_(false),
previousStamp_(0.0),
previousClockTime_(0.0),
expectedUpdateRate_(0.0),
maxUpdateRate_(0.0),
minUpdateRate_(0.0),
@@ -577,7 +581,36 @@ void OdometryROS::mainLoop()
Transform groundTruth;
if(!data.imageRaw().empty() || !data.laserScanRaw().isEmpty())
{
if(previousStamp_>0.0 && previousStamp_ >= rtabmap_conversions::timestampFromROS(header.stamp))
// Detect time jump in the past
double clockNow = now().seconds();
if(previousClockTime_ > clockNow)
{
RCLCPP_WARN(this->get_logger(), "Odometry: Detected jump back in time of %f sec. Odometry is "
"automatically reset to latest computed pose!",
previousClockTime_ - clockNow);
SensorData dataCpy = dataToProcess_;
std_msgs::msg::Header headerCpy = dataHeaderToProcess_;
double previousCpy = previousClockTime_;
this->reset(odometry_->getPose());
if(clockNow > rtabmap_conversions::timestampFromROS(headerCpy.stamp)) {
// new frame is using new clock, process it now
dataToProcess_ = dataCpy;
dataHeaderToProcess_ = headerCpy;
dataReady_.release();
RCLCPP_WARN(this->get_logger(), "Odometry: Restarting with frame: %f (clock previous=%f, new=%f)",
rtabmap_conversions::timestampFromROS(headerCpy.stamp), previousCpy, clockNow);
}
else {
// skip that old frame
RCLCPP_WARN(this->get_logger(), "Odometry: skipping frame: %f (clock previous=%f, new=%f)",
rtabmap_conversions::timestampFromROS(headerCpy.stamp), previousCpy, clockNow);
}
previousClockTime_ = clockNow;
return;
}
previousClockTime_ = clockNow;
if(previousStamp_ >= rtabmap_conversions::timestampFromROS(header.stamp))
{
RCLCPP_WARN(this->get_logger(), "Odometry: Detected not valid consecutive stamps (previous=%fs new=%fs). "
"New stamp should be always greater than previous stamp. This new data is ignored.",
@@ -677,7 +710,17 @@ void OdometryROS::mainLoop()
correctionMsg.header.stamp = header.stamp;
Transform correction = odometry_->getPose() * guess_ * guessCurrentPose.inverse();
rtabmap_conversions::transformToGeometryMsg(correction, correctionMsg.transform);
tfBroadcaster_->sendTransform(correctionMsg);
double time_now = now().seconds();
if(time_now >= previousClockTime_) {
tfBroadcaster_->sendTransform(correctionMsg);
}
else {
RCLCPP_WARN(this->get_logger(), "TF %s->%s is not published because we detected a time jump in the past of %f sec.",
correctionMsg.header.frame_id.c_str(),
correctionMsg.child_frame_id.c_str(),
previousClockTime_ - time_now);
}
}
guessPreviousPose_ = guessCurrentPose;
return;
@@ -731,11 +774,30 @@ void OdometryROS::mainLoop()
correctionMsg.header.stamp = header.stamp;
Transform correction = pose * guessCurrentPose.inverse();
rtabmap_conversions::transformToGeometryMsg(correction, correctionMsg.transform);
tfBroadcaster_->sendTransform(correctionMsg);
double time_now = now().seconds();
if(time_now >= previousClockTime_) {
tfBroadcaster_->sendTransform(correctionMsg);
}
else {
RCLCPP_WARN(this->get_logger(), "TF %s->%s is not published because we detected a time jump in the past of %f sec.",
correctionMsg.header.frame_id.c_str(),
correctionMsg.child_frame_id.c_str(),
previousClockTime_ - time_now);
}
}
else
{
tfBroadcaster_->sendTransform(poseMsg);
double time_now = now().seconds();
if(time_now >= previousClockTime_) {
tfBroadcaster_->sendTransform(poseMsg);
}
else {
RCLCPP_WARN(this->get_logger(), "TF %s->%s is not published because we detected a time jump in the past of %f sec.",
poseMsg.header.frame_id.c_str(),
poseMsg.child_frame_id.c_str(),
previousClockTime_ - time_now);
}
}
}
@@ -927,7 +989,18 @@ void OdometryROS::mainLoop()
correctionMsg.header.stamp = header.stamp;
Transform correction = odometry_->getPose() * guess_ * guessCurrentPose.inverse();
rtabmap_conversions::transformToGeometryMsg(correction, correctionMsg.transform);
tfBroadcaster_->sendTransform(correctionMsg);
double time_now = now().seconds();
if(time_now >= previousClockTime_) {
tfBroadcaster_->sendTransform(correctionMsg);
}
else {
RCLCPP_WARN(this->get_logger(), "TF %s->%s is not published because its stamp (%f) is greater "
"than current time (%f), possible time jump happened!",
correctionMsg.header.frame_id.c_str(),
correctionMsg.child_frame_id.c_str(),
rtabmap_conversions::timestampFromROS(correctionMsg.header.stamp),
time_now);
}
}
}
@@ -1167,6 +1240,7 @@ void OdometryROS::reset(const Transform & pose)
guess_.setNull();
guessPreviousPose_.setNull();
previousStamp_ = 0.0;
previousClockTime_ = 0.0;
resetCurrentCount_ = resetCountdown_;
imuProcessed_ = false;
dataToProcess_ = SensorData();
rtabmap_rviz_plugins/CMakeLists.txt
+9
View File
@@ -5,6 +5,15 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
if(CMAKE_SYSTEM_PROCESSOR STREQUAL "aarch64")
# issues #1285 #1288
find_library(
message_filters_LIB NAMES message_filters
PATHS "/opt/ros/$ENV{ROS_DISTRO}/lib"
NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH REQUIRED
)
endif()
find_package(ament_cmake_ros REQUIRED)
find_package(pcl_conversions REQUIRED)
find_package(pluginlib REQUIRED)
rtabmap_rviz_plugins/package.xml
+2
View File
@@ -12,6 +12,8 @@
<buildtool_depend>ament_cmake_ros</buildtool_depend>
<build_depend>ros_environment</build_depend>
<depend>pcl_conversions</depend>
<depend>pluginlib</depend>
<depend>rclcpp</depend>
rtabmap_slam/CMakeLists.txt
+53
View File
@@ -10,6 +10,15 @@ if(POLICY CMP0074)
cmake_policy(SET CMP0074 NEW)
endif()
if(CMAKE_SYSTEM_PROCESSOR STREQUAL "aarch64")
# issues #1285 #1288
find_library(
builtin_interfaces__rosidl_generator_c_LIB NAMES builtin_interfaces__rosidl_generator_c
PATHS "/opt/ros/$ENV{ROS_DISTRO}/lib"
NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH REQUIRED
)
endif()
find_package(ament_cmake REQUIRED)
find_package(cv_bridge REQUIRED)
find_package(geometry_msgs REQUIRED)
@@ -29,6 +38,10 @@ find_package(rtabmap_sync REQUIRED)
#optional
find_package(apriltag_msgs)
find_package(aruco_msgs)
find_package(aruco_markers_msgs)
find_package(aruco_opencv_msgs)
find_package(ros2_aruco_interfaces)
find_package(nav2_msgs)
IF(WIN32)
@@ -79,6 +92,46 @@ SET(Libraries
)
ENDIF(apriltag_msgs_FOUND)
# If aruco_msgs is found, add definition
IF(aruco_msgs_FOUND)
MESSAGE(STATUS "WITH aruco_msgs")
ADD_DEFINITIONS("-DWITH_ARUCO_MSGS")
SET(Libraries
${Libraries}
aruco_msgs
)
ENDIF(aruco_msgs_FOUND)
# If aruco_opencv_msgs is found, add definition
IF(aruco_opencv_msgs_FOUND)
MESSAGE(STATUS "WITH aruco_opencv_msgs")
ADD_DEFINITIONS("-DWITH_ARUCO_OPENCV_MSGS")
SET(Libraries
${Libraries}
aruco_opencv_msgs
)
ENDIF(aruco_opencv_msgs_FOUND)
# If aruco_markers_msgs is found, add definition
IF(aruco_markers_msgs_FOUND)
MESSAGE(STATUS "WITH aruco_markers_msgs")
ADD_DEFINITIONS("-DWITH_ARUCO_MARKERS_MSGS")
SET(Libraries
${Libraries}
aruco_markers_msgs
)
ENDIF(aruco_markers_msgs_FOUND)
# If ros2_aruco_interfaces is found, add definition
IF(ros2_aruco_interfaces_FOUND)
MESSAGE(STATUS "WITH ros2_aruco_interfaces")
ADD_DEFINITIONS("-DWITH_ROS2_ARUCO_INTERFACES")
SET(Libraries
${Libraries}
ros2_aruco_interfaces
)
ENDIF(ros2_aruco_interfaces_FOUND)
# If nav2_msgs is found, add definition
IF(nav2_msgs_FOUND)
MESSAGE(STATUS "WITH nav2_msgs")
rtabmap_slam/include/rtabmap_slam/CoreWrapper.h
+43 -1
View File
@@ -88,6 +88,22 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <apriltag_msgs/msg/april_tag_detection_array.hpp>
#endif
#ifdef WITH_ARUCO_MSGS
#include <aruco_msgs/msg/marker_array.hpp>
#endif
#ifdef WITH_ARUCO_OPENCV_MSGS
#include <aruco_opencv_msgs/msg/aruco_detection.hpp>
#endif
#ifdef WITH_ARUCO_MARKERS_MSGS
#include <aruco_markers_msgs/msg/marker_array.hpp>
#endif
#ifdef WITH_ROS2_ARUCO_INTERFACES
#include <ros2_aruco_interfaces/msg/aruco_markers.hpp>
#endif
#ifdef WITH_NAV2_MSGS
#include <nav2_msgs/action/navigate_to_pose.hpp>
#include <rclcpp_action/rclcpp_action.hpp>
@@ -178,7 +194,20 @@ private:
void landmarkDetectionAsyncCallback(const rtabmap_msgs::msg::LandmarkDetection::SharedPtr landmarkDetection);
void landmarkDetectionsAsyncCallback(const rtabmap_msgs::msg::LandmarkDetections::SharedPtr landmarkDetections);
#ifdef WITH_APRILTAG_MSGS
void tagDetectionsAsyncCallback(const apriltag_msgs::msg::AprilTagDetectionArray::SharedPtr tagDetections);
void tagDetectionsAsyncCallback(const apriltag_msgs::msg::AprilTagDetectionArray::SharedPtr msg);
void apriltagAsyncCallback(const apriltag_msgs::msg::AprilTagDetectionArray::SharedPtr msg);
#endif
#ifdef WITH_ARUCO_MSGS
void arucoAsyncCallback(const aruco_msgs::msg::MarkerArray::SharedPtr msg);
#endif
#ifdef WITH_ARUCO_OPENCV_MSGS
void arucoOpencvAsyncCallback(const aruco_opencv_msgs::msg::ArucoDetection::SharedPtr msg);
#endif
#ifdef WITH_ARUCO_MARKERS_MSGS
void arucoMarkersAsyncCallback(const aruco_markers_msgs::msg::MarkerArray::SharedPtr msg);
#endif
#ifdef WITH_ROS2_ARUCO_INTERFACES
void arucoInterfacesAsyncCallback(const ros2_aruco_interfaces::msg::ArucoMarkers::SharedPtr msg);
#endif
#ifdef WITH_FIDUCIAL_MSGS
void fiducialDetectionsAsyncCallback(const fiducial_msgs::msgs::FiducialTransformArray::SharedPtr fiducialDetections);
@@ -420,6 +449,19 @@ private:
rclcpp::Subscription<rtabmap_msgs::msg::LandmarkDetections>::SharedPtr landmarkDetectionsSub_;
#ifdef WITH_APRILTAG_MSGS
rclcpp::Subscription<apriltag_msgs::msg::AprilTagDetectionArray>::SharedPtr tagDetectionsSub_;
rclcpp::Subscription<apriltag_msgs::msg::AprilTagDetectionArray>::SharedPtr apriltagSub_;
#endif
#ifdef WITH_ARUCO_MSGS
rclcpp::Subscription<aruco_msgs::msg::MarkerArray>::SharedPtr arucoSub_;
#endif
#ifdef WITH_ARUCO_OPENCV_MSGS
rclcpp::Subscription<aruco_opencv_msgs::msg::ArucoDetection>::SharedPtr arucoOpencvSub_;
#endif
#ifdef WITH_ARUCO_MARKERS_MSGS
rclcpp::Subscription<aruco_markers_msgs::msg::MarkerArray>::SharedPtr arucoMarkersSub_;
#endif
#ifdef WITH_ROS2_ARUCO_INTERFACES
rclcpp::Subscription<ros2_aruco_interfaces::msg::ArucoMarkers>::SharedPtr arucoInterfacesSub_;
#endif
#ifdef WITH_FIDUCIAL_MSGS
rclcpp::Subscription<fiducial_msgs::msg::FiducialTransformArray>::SharedPtr fiducialTransfromsSub_;
rtabmap_slam/package.xml
+5
View File
@@ -12,6 +12,8 @@
<buildtool_depend>ament_cmake_ros</buildtool_depend>
<build_depend>ros_environment</build_depend>
<depend>cv_bridge</depend>
<depend>geometry_msgs</depend>
<depend>nav_msgs</depend>
@@ -25,6 +27,9 @@
<depend>tf2_ros</depend>
<depend>visualization_msgs</depend>
<depend>apriltag_msgs</depend>
<depend>aruco_msgs</depend>
<depend>aruco_opencv_msgs</depend>
<!-- depend>aruco_markers_msgs</depend --> <!-- binaries only available on humble -->
<depend>rtabmap_msgs</depend>
<depend>rtabmap_util</depend>
rtabmap_slam/src/CoreWrapper.cpp
+116 -11
View File
@@ -718,12 +718,11 @@ CoreWrapper::CoreWrapper(const rclcpp::NodeOptions & options) :
mapToOdomMutex_.lock();
if(!odomFrameId_.empty())
{
rclcpp::Time tfExpiration = now() + rclcpp::Duration::from_seconds(tfTolerance);
geometry_msgs::msg::TransformStamped msg;
rtabmap_conversions::transformToGeometryMsg(mapToOdom_, msg.transform);
msg.child_frame_id = odomFrameId_;
msg.header.frame_id = mapFrameId_;
msg.header.stamp = tfExpiration;
rtabmap_conversions::transformToGeometryMsg(mapToOdom_, msg.transform);
msg.header.stamp = now() + rclcpp::Duration::from_seconds(tfTolerance);
tfBroadcaster_->sendTransform(msg);
}
mapToOdomMutex_.unlock();
@@ -886,6 +885,19 @@ CoreWrapper::CoreWrapper(const rclcpp::NodeOptions & options) :
landmarkDetectionsSub_ = this->create_subscription<rtabmap_msgs::msg::LandmarkDetections>("landmark_detections", 1, std::bind(&CoreWrapper::landmarkDetectionsAsyncCallback, this, std::placeholders::_1), landmarkSubOptions);
#ifdef WITH_APRILTAG_MSGS
tagDetectionsSub_ = this->create_subscription<apriltag_msgs::msg::AprilTagDetectionArray>("tag_detections", 5, std::bind(&CoreWrapper::tagDetectionsAsyncCallback, this, std::placeholders::_1), landmarkSubOptions);
apriltagSub_ = this->create_subscription<apriltag_msgs::msg::AprilTagDetectionArray>("apriltag/detections", 5, std::bind(&CoreWrapper::apriltagAsyncCallback, this, std::placeholders::_1), landmarkSubOptions);
#endif
#ifdef WITH_ARUCO_MSGS
arucoSub_ = this->create_subscription<aruco_msgs::msg::MarkerArray>("aruco/detections", 5, std::bind(&CoreWrapper::arucoAsyncCallback, this, std::placeholders::_1), landmarkSubOptions);
#endif
#ifdef WITH_ARUCO_OPENCV_MSGS
arucoOpencvSub_ = this->create_subscription<aruco_opencv_msgs::msg::ArucoDetection>("aruco_opencv/detections", 5, std::bind(&CoreWrapper::arucoOpencvAsyncCallback, this, std::placeholders::_1), landmarkSubOptions);
#endif
#ifdef WITH_ARUCO_MARKERS_MSGS
arucoMarkersSub_ = this->create_subscription<aruco_markers_msgs::msg::MarkerArray>("aruco_markers/detections", 5, std::bind(&CoreWrapper::arucoMarkersAsyncCallback, this, std::placeholders::_1), landmarkSubOptions);
#endif
#ifdef WITH_ROS2_ARUCO_INTERFACES
arucoInterfacesSub_ = this->create_subscription<ros2_aruco_interfaces::msg::ArucoMarkers>("aruco_interfaces/detections", 5, std::bind(&CoreWrapper::arucoInterfacesAsyncCallback, this, std::placeholders::_1), landmarkSubOptions);
#endif
#ifdef WITH_FIDUCIAL_MSGS
fiducialTransfromsSub_ = this->create_subscription<fiducial_msgs::msg::FiducialTransformArray>("fiducial_transforms", 5, std::bind(&CoreWrapper::fiducialDetectionsAsyncCallback, this, std::placeholders::_1), landmarkSubOptions);
@@ -2651,18 +2663,30 @@ void CoreWrapper::landmarkDetectionsAsyncCallback(const rtabmap_msgs::msg::Landm
}
#ifdef WITH_APRILTAG_MSGS
void CoreWrapper::tagDetectionsAsyncCallback(const apriltag_msgs::msg::AprilTagDetectionArray::SharedPtr tagDetections)
void CoreWrapper::tagDetectionsAsyncCallback(const apriltag_msgs::msg::AprilTagDetectionArray::SharedPtr msg)
{
if(!paused_)
{
static bool warningShow = false;
if(!warningShow) {
RCLCPP_WARN(this->get_logger(), "\"tag_detections\" input topic name for apriltag_msgs is deprecated, remap \"apriltag\" input topic name instead. This message is only printed once.");
warningShow = true;
}
apriltagAsyncCallback(msg);
}
}
void CoreWrapper::apriltagAsyncCallback(const apriltag_msgs::msg::AprilTagDetectionArray::SharedPtr msg)
{
if(!paused_)
{
UScopeMutex lock(landmarksMutex_);
for(unsigned int i=0; i<tagDetections->detections.size(); ++i)
for(unsigned int i=0; i<msg->detections.size(); ++i)
{
std::string tagFrameId = tagDetections->detections[i].family+":"+uNumber2Str(tagDetections->detections[i].id);
std::string tagFrameId = msg->detections[i].family+":"+uNumber2Str(msg->detections[i].id);
Transform camToTag = rtabmap_conversions::getTransform(
tagDetections->header.frame_id, // e.g., camera_optical_frame
msg->header.frame_id, // e.g., camera_optical_frame
tagFrameId, // e.g., tag36h11:42
tagDetections->header.stamp,
msg->header.stamp,
*tfBuffer_,
waitForTransform_);
if(camToTag.isNull())
@@ -2670,16 +2694,97 @@ void CoreWrapper::tagDetectionsAsyncCallback(const apriltag_msgs::msg::AprilTagD
RCLCPP_WARN(get_logger(), "Could not get TF between %s and %s frames for tag detection %d.",
frameId_.c_str(),
tagFrameId.c_str(),
tagDetections->detections[i].id);
msg->detections[i].id);
continue;
}
geometry_msgs::msg::PoseWithCovarianceStamped p;
rtabmap_conversions::transformToPoseMsg(camToTag, p.pose.pose);
p.header = tagDetections->header;
p.header = msg->header;
uInsert(landmarks_,
std::make_pair(tagDetections->detections[i].id,
std::make_pair(msg->detections[i].id,
std::make_pair(p, 0.0f)));
}
}
}
#endif
#ifdef WITH_ARUCO_MSGS
void CoreWrapper::arucoAsyncCallback(const aruco_msgs::msg::MarkerArray::SharedPtr msg)
{
if(!paused_)
{
UScopeMutex lock(landmarksMutex_);
for(unsigned int i=0; i<msg->markers.size(); ++i)
{
geometry_msgs::msg::PoseWithCovarianceStamped p;
p.pose = msg->markers[i].pose;
p.header = msg->markers[i].header;
uInsert(landmarks_,
std::make_pair((int)msg->markers[i].id,
std::make_pair(p, 0.0f)));
}
}
}
#endif
#ifdef WITH_ARUCO_OPENCV_MSGS
void CoreWrapper::arucoOpencvAsyncCallback(const aruco_opencv_msgs::msg::ArucoDetection::SharedPtr msg)
{
if(!paused_)
{
UScopeMutex lock(landmarksMutex_);
for(unsigned int i=0; i<msg->markers.size(); ++i)
{
geometry_msgs::msg::PoseWithCovarianceStamped p;
p.pose.pose = msg->markers[i].pose;
p.header = msg->header;
uInsert(landmarks_,
std::make_pair((int)msg->markers[i].marker_id,
std::make_pair(p, 0.0f)));
}
}
}
#endif
#ifdef WITH_ARUCO_MARKERS_MSGS
void CoreWrapper::arucoMarkersAsyncCallback(const aruco_markers_msgs::msg::MarkerArray::SharedPtr msg)
{
if(!paused_)
{
UScopeMutex lock(landmarksMutex_);
for(unsigned int i=0; i<msg->markers.size(); ++i)
{
geometry_msgs::msg::PoseWithCovarianceStamped p;
p.pose.pose = msg->markers[i].pose.pose;
p.header = msg->markers[i].pose.header;
uInsert(landmarks_,
std::make_pair((int)msg->markers[i].id,
std::make_pair(p, 0.0f)));
}
}
}
#endif
#ifdef WITH_ROS2_ARUCO_INTERFACES
void CoreWrapper::arucoInterfacesAsyncCallback(const ros2_aruco_interfaces::msg::ArucoMarkers::SharedPtr msg)
{
if(!paused_)
{
UScopeMutex lock(landmarksMutex_);
UASSERT(msg->marker_ids.size() == msg->poses.size());
for(unsigned int i=0; i<msg->marker_ids.size(); ++i)
{
geometry_msgs::msg::PoseWithCovarianceStamped p;
p.pose.pose = msg->poses[i];
p.header = msg->header;
uInsert(landmarks_,
std::make_pair((int)msg->marker_ids[i],
std::make_pair(p, 0.0f)));
}
}
rtabmap_sync/CMakeLists.txt
+14
View File
@@ -1,6 +1,20 @@
cmake_minimum_required(VERSION 3.5)
project(rtabmap_sync)
if(CMAKE_SYSTEM_PROCESSOR STREQUAL "aarch64")
# issues #1285 #1288
find_library(
builtin_interfaces__rosidl_generator_c_LIB NAMES builtin_interfaces__rosidl_generator_c
PATHS "/opt/ros/$ENV{ROS_DISTRO}/lib"
NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH REQUIRED
)
find_library(
crypto_LIB NAMES crypto
PATHS "/usr/lib/${CMAKE_SYSTEM_PROCESSOR}-linux-gnu"
NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH REQUIRED
)
endif()
find_package(cv_bridge REQUIRED)
find_package(image_transport REQUIRED)
find_package(message_filters REQUIRED)
rtabmap_sync/include/rtabmap_sync/SyncDiagnostic.h
+17 -4
View File
@@ -26,10 +26,10 @@ class SyncDiagnostic {
inCompositeTask_("Input Status"),
outCompositeTask_("Output Status"),
lastTickInputStamp_(rtabmap_conversions::timestampFromROS(node_->now())-1),
lastTickOutputStamp_(rtabmap_conversions::timestampFromROS(node_->now())-1),
inTargetFrequency_(0.0),
outTargetFrequency_(0.0),
windowSize_(windowSize)
windowSize_(windowSize),
lastTickTime_(0.0)
{
UASSERT(windowSize_ >= 1);
}
@@ -76,6 +76,7 @@ class SyncDiagnostic {
void tickOutput(const rclcpp::Time & stamp, double expectedFrequency = 0)
{
double lastTickOutputStamp;
updateFrequency(
stamp,
expectedFrequency,
@@ -83,7 +84,7 @@ class SyncDiagnostic {
outTimeStampStatus_,
outWindow_,
outTargetFrequency_,
lastTickOutputStamp_);
lastTickOutputStamp);
}
private:
@@ -140,6 +141,18 @@ private:
}
lastTickStamp = stampSec;
double clockNow = rtabmap_conversions::timestampFromROS(node_->now());
if(lastTickTime_ > clockNow)
{
RCLCPP_WARN(node_->get_logger(), "%s: Detected time jump in the past of %f sec, forcing diagnostic update.",
node_->get_name(), lastTickTime_ - clockNow);
inFrequencyStatus_.clear();
outFrequencyStatus_.clear();
diagnosticUpdater_.force_update();
lastTickInputStamp_ = clockNow;
}
lastTickTime_ = clockNow;
}
private:
@@ -154,13 +167,13 @@ private:
diagnostic_updater::CompositeDiagnosticTask outCompositeTask_;
rclcpp::TimerBase::SharedPtr diagnosticTimer_;
double lastTickInputStamp_;
double lastTickOutputStamp_;
double inTargetFrequency_;
double outTargetFrequency_;
int windowSize_;
std::deque<double> inWindow_;
std::deque<double> outWindow_;
UMutex tickMutex_;
double lastTickTime_;
};
rtabmap_sync/package.xml
+2
View File
@@ -12,6 +12,8 @@
<buildtool_depend>ament_cmake_ros</buildtool_depend>
<build_depend>ros_environment</build_depend>
<depend>cv_bridge</depend>
<depend>image_transport</depend>
<depend>message_filters</depend>
rtabmap_util/package.xml
+2
View File
@@ -12,6 +12,8 @@
<buildtool_depend>ament_cmake</buildtool_depend>
<build_depend>ros_environment</build_depend>
<depend>cv_bridge</depend>
<depend>image_transport</depend>
<depend>rclcpp</depend>
rtabmap_util/src/nodelets/point_cloud_assembler.cpp
+1 -1
View File
@@ -130,7 +130,7 @@ PointCloudAssembler::PointCloudAssembler(const rclcpp::NodeOptions & options) :
if(maxClouds_==0 && assemblingTime_ ==0.0)
{
RCLCPP_ERROR(get_logger(), "point_cloud_assembler: max_cloud or assembling_time parameters should be set!");
RCLCPP_ERROR(get_logger(), "point_cloud_assembler: max_clouds or assembling_time parameters should be set!");
exit(-1);
}
rtabmap_viz/CMakeLists.txt
+19
View File
@@ -5,6 +5,25 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
if(CMAKE_SYSTEM_PROCESSOR STREQUAL "aarch64")
# issues #1285 #1288
find_library(
builtin_interfaces__rosidl_generator_c_LIB NAMES builtin_interfaces__rosidl_generator_c
PATHS "/opt/ros/$ENV{ROS_DISTRO}/lib"
NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH REQUIRED
)
find_library(
rcutils_LIB NAMES rcutils
PATHS "/opt/ros/$ENV{ROS_DISTRO}/lib"
NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH REQUIRED
)
find_library(
crypto_LIB NAMES crypto
PATHS "/usr/lib/${CMAKE_SYSTEM_PROCESSOR}-linux-gnu"
NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH REQUIRED
)
endif()
find_package(ament_cmake REQUIRED)
find_package(cv_bridge REQUIRED)
find_package(geometry_msgs REQUIRED)
rtabmap_viz/package.xml
+2
View File
@@ -12,6 +12,8 @@
<buildtool_depend>ament_cmake_ros</buildtool_depend>
<build_depend>ros_environment</build_depend>
<depend>cv_bridge</depend>
<depend>geometry_msgs</depend>
<depend>rclcpp</depend>