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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_slam/src/CoreWrapper.cpp
+4 -8
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@@ -152,10 +152,6 @@ CoreWrapper::CoreWrapper(const rclcpp::NodeOptions & options) :
syncData_.valid = false;
tfBuffer_ = std::make_shared<tf2_ros::Buffer>(this->get_clock());
//auto timer_interface = std::make_shared<tf2_ros::CreateTimerROS>(
// this->get_node_base_interface(),
// this->get_node_timers_interface());
//tfBuffer_->setCreateTimerInterface(timer_interface);
tfListener_ = std::make_shared<tf2_ros::TransformListener>(*tfBuffer_);
tfBroadcaster_ = std::make_shared<tf2_ros::TransformBroadcaster>(this);
@@ -248,6 +244,7 @@ CoreWrapper::CoreWrapper(const rclcpp::NodeOptions & options) :
RCLCPP_INFO(this->get_logger(), "rtabmap: tf_tolerance = %f", tfTolerance);
RCLCPP_INFO(this->get_logger(), "rtabmap: odom_sensor_sync = %s", odomSensorSync_?"true":"false");
RCLCPP_INFO(this->get_logger(), "rtabmap: pub_loc_pose_only_when_localizing = %s", pubLocPoseOnlyWhenLocalizing_?"true":"false");
RCLCPP_INFO(this->get_logger(), "rtabmap: wait_for_transform = %f", waitForTransform_);
if(this->isSubscribedToStereo())
{
RCLCPP_INFO(this->get_logger(), "rtabmap: stereo_to_depth = %s", stereoToDepth_?"true":"false");
@@ -757,9 +754,8 @@ CoreWrapper::CoreWrapper(const rclcpp::NodeOptions & options) :
Parameters::kRGBDEnabled().c_str(),
Parameters::kRGBDEnabled().c_str());
}
auto node = rclcpp::Node::make_shared("rtabmap");
image_transport::TransportHints hints(this);
defaultSub_ = image_transport::create_subscription(node.get(), "image", std::bind(&CoreWrapper::defaultCallback, this, std::placeholders::_1), hints.getTransport(), rclcpp::QoS(this->getTopicQueueSize()).reliability((rmw_qos_reliability_policy_t)qosImage_).get_rmw_qos_profile(), subOptions);
defaultSub_ = image_transport::create_subscription(this, "image", std::bind(&CoreWrapper::defaultCallback, this, std::placeholders::_1), hints.getTransport(), rclcpp::QoS(this->getTopicQueueSize()).reliability((rmw_qos_reliability_policy_t)qosImage_).get_rmw_qos_profile(), subOptions);
RCLCPP_INFO(this->get_logger(), "\n%s subscribed to:\n %s", get_name(), defaultSub_.getTopic().c_str());
@@ -856,8 +852,8 @@ CoreWrapper::CoreWrapper(const rclcpp::NodeOptions & options) :
landmarkSubOptions.callback_group = imuCallbackGroup_;
imuSubOptions.callback_group = imuCallbackGroup_;
int qosGPS = 0;
int qosIMU = 0;
int qosGPS = RMW_QOS_POLICY_RELIABILITY_SYSTEM_DEFAULT;
int qosIMU = RMW_QOS_POLICY_RELIABILITY_SYSTEM_DEFAULT;
qosGPS = this->declare_parameter("qos_gps", qosGPS);
qosIMU = this->declare_parameter("qos_imu", qosIMU);
userDataAsyncSub_ = this->create_subscription<rtabmap_msgs::msg::UserData>("user_data_async", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qosUserData_), std::bind(&CoreWrapper::userDataAsyncCallback, this, std::placeholders::_1), userDataAsyncSubOptions);