i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-04 16:57:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

rtabmap_sync tests and doc (#1454)

Browse Source 
* rtabmap_sync tests and doc

* Added some diagrams

* cleanup some diagrams

* fixing running tests in parallels
This commit is contained in:
matlabbe
2026-09-13 11:25:32 -07:00
committed by GitHub
parent 61edb4ee85
commit 5062bf0614
45 changed files with 4481 additions and 76 deletions
Download Patch File Download Diff File Expand all files Collapse all files
rtabmap_util/CMakeLists.txt
+10 -1
View File
@@ -308,8 +308,17 @@ if(BUILD_TESTING)
# Each node gets its own test binary: a crash or a stuck executor in one node cannot
# take the others down, and every binary starts with a clean DDS graph.
#
# Each binary also gets its own DDS domain. colcon tests packages in parallel and ctest
# can run these binaries in parallel, while these suites share topic names -- rgb/image,
# rgbd_image, odom -- with rtabmap_sync's. On a shared domain they discover each other's
# publishers, and assertions then see traffic the test never sent. rtabmap_sync numbers
# its own from 50; keep the two ranges apart.
set(rtabmap_util_test_domain_id 30)
macro(rtabmap_util_add_node_test test_name)
ament_add_gtest(${test_name} test/${test_name}.cpp)
ament_add_gtest(${test_name} test/${test_name}.cpp
ENV ROS_DOMAIN_ID=${rtabmap_util_test_domain_id})
math(EXPR rtabmap_util_test_domain_id "${rtabmap_util_test_domain_id} + 1")
if(TARGET ${test_name})
target_include_directories(${test_name} PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/test)
target_link_libraries(${test_name} rtabmap_util_plugins rtabmap_util)