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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_odom/include/rtabmap_odom/OdometryROS.h
+9 -2
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@@ -109,6 +109,7 @@ private:
protected:
rclcpp::CallbackGroup::SharedPtr dataCallbackGroup_;
void tick(const rclcpp::Time & stamp);
private:
rtabmap::Odometry * odometry_;
@@ -178,10 +179,14 @@ private:
bool compressionParallelized_;
int odomStrategy_;
bool waitIMUToinit_;
bool alwaysCheckImuTf_;
bool imuProcessed_;
std::map<double, rtabmap::IMU> imus_;
int processedMsgs_;
int droppedMsgs_;
std::map<double, sensor_msgs::msg::Imu::ConstSharedPtr> imus_;
std::string configPath_;
rtabmap::Transform initialPose_;
rtabmap::Transform imuLocalTransform_;
rtabmap_util::ULogToRosout ulogToRosout_;
@@ -189,11 +194,13 @@ private:
{
public:
OdomStatusTask();
void setStatus(bool isLost);
void setStatus(bool isLost, int processedMsgs, int droppedMsgs);
void run(diagnostic_updater::DiagnosticStatusWrapper &stat);
private:
bool lost_;
bool dataReceived_;
int processedMsgs_;
int droppedMsgs_;
};
OdomStatusTask statusDiagnostic_;
std::unique_ptr<rtabmap_sync::SyncDiagnostic> syncDiagnostic_;