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ROS2 various QOL updates (preparing new binary release) (#1225)

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* Updating examples and README

* updated main readme

* odom: Added always_check_imu_tf parameter. sync: increased default sync_queue_size from 2 to 5 (to be more flexible to different hardware), added input and output diagnostics. rtabmap_viz: fixed node with same name redeclared warning.

* update readme

* Added husky demo

* converted demo_robot_mapping.launch to ros2

* Converted stereo_outdoor demo from ros1 to ros2

* Converted multi-session demo to ros2

* Converted demo_find_object launch to ros2

* renamed files

* uniformized default qos, increased sync_queue_size default to 10

* Added vlp16 + imu example

* Added husky 3D lidar demos

* moved demos in subdir

* Added vlp16+zed example

* rtabmap_viz: ignore odom update if tf not ready when not using topic (to avoid showing red screen). Added champ VSLAM demo.

* forwarded camera_model arg for zed examples, removed qos for turtlebot4 demo

* pointcloud_to_depthimage: added more error logs, removed output camera_info published twice and match ros1 namespaces

* Created two base general examples for 3D lidar usage, then create hardware specific examples on top of them.

* Added isaac sim demo

* Final update of all demos. Fixed MapCloud rviz plugin crashing when floor/ceiling filtering is used and resulting cloud is empty.

* Fixed 2d scan deskewing output frame, moved nav2 params under "params" folder, added number of topics processed/dropped for odometry, added icp_odometry option for turtlebot3 scan-only demo.

* rtabmap_demos: added README with examples

* Added TOC

* bump version to 0.21.9
This commit is contained in:
matlabbe
2024-11-30 17:28:16 -08:00
committed by GitHub
parent e9aa8ed082
commit 3f6adad463
116 changed files with 6102 additions and 575 deletions
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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>0.21.5</version>
<version>0.21.9</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="[email protected]">Mathieu Labbe</maintainer>
<author>Mathieu Labbe</author>
rtabmap_conversions/src/MsgConversion.cpp
+7 -2
View File
@@ -923,7 +923,8 @@ void cameraModelToROS(
UASSERT(model.R().empty() || model.R().total() == 9);
if(model.R().empty())
{
memset(camInfo.r.data(), 0.0, 9*sizeof(double));
cv::Mat eye = cv::Mat::eye(3,3,CV_64FC1);
memcpy(camInfo.r.data(), eye.data, 9*sizeof(double));
}
else
{
@@ -934,6 +935,10 @@ void cameraModelToROS(
if(model.P().empty())
{
memset(camInfo.p.data(), 0.0, 12*sizeof(double));
if(!model.K_raw().empty()) {
model.K_raw().copyTo(cv::Mat(3,4,CV_64FC1, camInfo.p.data()).colRange(0,3));
camInfo.p.back() = 1.0;
}
}
else
{
@@ -2169,7 +2174,7 @@ bool convertRGBDMsgs(
rtabmap::Transform localTransform = rtabmap_conversions::getTransform(frameId, !imageMsgs.empty()?imageMsgs[i]->header.frame_id:cameraInfoMsgs[i].header.frame_id, stamp, listener, waitForTransform);
if(localTransform.isNull())
{
UERROR("TF of received image %d at time %fs is not set!", i, stamp.seconds());
UERROR("TF of received image for camera %d at time %fs is not set!", i, stamp.seconds());
return false;
}
// sync with odometry stamp