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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/src/nodelets/rgbd_odometry.cpp
+17 -1
View File
@@ -64,7 +64,7 @@ RGBDOdometry::RGBDOdometry(const rclcpp::NodeOptions & options) :
approxSync6_(0),
exactSync6_(0),
topicQueueSize_(10),
syncQueueSize_(2),
syncQueueSize_(5),
keepColor_(false)
{
OdometryROS::init(false, true, false);
@@ -569,6 +569,8 @@ void RGBDOdometry::callback(
const sensor_msgs::msg::Image::ConstSharedPtr depth,
const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfo)
{
tick(image->header.stamp);
if(!this->isPaused())
{
std::vector<cv_bridge::CvImageConstPtr> imageMsgs(1);
@@ -597,6 +599,8 @@ void RGBDOdometry::callback(
void RGBDOdometry::callbackRGBDX(
const rtabmap_msgs::msg::RGBDImages::ConstSharedPtr images)
{
tick(images->header.stamp);
if(!this->isPaused())
{
if(images->rgbd_images.empty())
@@ -620,6 +624,8 @@ void RGBDOdometry::callbackRGBDX(
void RGBDOdometry::callbackRGBD(
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image)
{
tick(image->header.stamp);
if(!this->isPaused())
{
std::vector<cv_bridge::CvImageConstPtr> imageMsgs(1);
@@ -636,6 +642,8 @@ void RGBDOdometry::callbackRGBD2(
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image,
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image2)
{
tick(image->header.stamp);
if(!this->isPaused())
{
std::vector<cv_bridge::CvImageConstPtr> imageMsgs(2);
@@ -655,6 +663,8 @@ void RGBDOdometry::callbackRGBD3(
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image2,
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image3)
{
tick(image->header.stamp);
if(!this->isPaused())
{
std::vector<cv_bridge::CvImageConstPtr> imageMsgs(3);
@@ -677,6 +687,8 @@ void RGBDOdometry::callbackRGBD4(
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image3,
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image4)
{
tick(image->header.stamp);
if(!this->isPaused())
{
std::vector<cv_bridge::CvImageConstPtr> imageMsgs(4);
@@ -702,6 +714,8 @@ void RGBDOdometry::callbackRGBD5(
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image4,
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image5)
{
tick(image->header.stamp);
if(!this->isPaused())
{
std::vector<cv_bridge::CvImageConstPtr> imageMsgs(5);
@@ -730,6 +744,8 @@ void RGBDOdometry::callbackRGBD6(
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image5,
const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr image6)
{
tick(image->header.stamp);
if(!this->isPaused())
{
std::vector<cv_bridge::CvImageConstPtr> imageMsgs(6);