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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_util/src/nodelets/lidar_deskewing.cpp
+2 -5
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@@ -14,14 +14,10 @@ LidarDeskewing::LidarDeskewing(const rclcpp::NodeOptions & options) :
slerp_(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_);
int queueSize = 5;
int qos = 0;
int qos = RMW_QOS_POLICY_RELIABILITY_SYSTEM_DEFAULT;
queueSize = this->declare_parameter("queue_size", queueSize);
qos = this->declare_parameter("qos", qos);
fixedFrameId_ = this->declare_parameter("fixed_frame_id", fixedFrameId_);
@@ -77,6 +73,7 @@ void LidarDeskewing::callbackScan(const sensor_msgs::msg::LaserScan::ConstShared
sensor_msgs::msg::PointCloud2 scanOutDeskewed;
rtabmap_conversions::transformPointCloud(t.toEigen4f(), scanOut, scanOutDeskewed);
scanOutDeskewed.header.frame_id = msg->header.frame_id;
pubScan_->publish(scanOutDeskewed);
}