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rtabmap_sync tests and doc (#1454)

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* rtabmap_sync tests and doc

* Added some diagrams

* cleanup some diagrams

* fixing running tests in parallels
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matlabbe
2026-09-13 11:25:32 -07:00
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parent 61edb4ee85
commit 5062bf0614
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README.md
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@@ -37,7 +37,7 @@ The stack is split into small packages so a pipeline only pulls in what it uses.
|---|---|
| `rtabmap_slam` | The `rtabmap` node itself: appearance-based loop closure detection, graph optimization, memory management and map assembly. |
| `rtabmap_odom` | Odometry nodes — `rgbd_odometry`, `stereo_odometry` and `icp_odometry`. Any external odometry can be used instead. |
| `rtabmap_sync` | Synchronizes camera and lidar topics into a single message so they reach the SLAM node together — `rgbd_sync`, `stereo_sync`, `rgbdx_sync`. |
| [`rtabmap_sync`](rtabmap_sync/README.md) | Synchronizes camera and lidar topics into a single message so they reach the SLAM node together — `rgbd_sync`, `stereo_sync`, `rgbdx_sync`. |
### Sensor processing
@@ -133,6 +133,18 @@ export CYCLONEDDS_URI="<Disc><DefaultMulticastAddress>0.0.0.0</></>"
* **Papers and videos** — [introlab.github.io/rtabmap](https://introlab.github.io/rtabmap/).
* **Old tutorials** — the [ROS 1 wiki](http://wiki.ros.org/rtabmap_ros/Tutorials), for anything not covered above; parameters and topic names are unchanged.
## Building the documentation
Each package's API reference is generated with [rosdoc2](https://github.com/ros-infrastructure/rosdoc2) from the Doxygen comments in its public headers, and published to docs.ros.org. rosdoc2 documents one package per invocation, so building the whole stack is a loop over them — run it from the repository root:
```bash
for pkg in rtabmap_*/; do
rosdoc2 build --package-path "$pkg" --output-directory doc_output || break
done
```
Each package lands in `doc_output/<package>/index.html`.
# License
BSD-3-Clause, see [LICENSE](LICENSE). RTAB-Map itself may be built with components under other licenses; see the [rtabmap](https://github.com/introlab/rtabmap) repository.