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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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commit 5062bf0614
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rtabmap_util/README.md
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@@ -58,9 +58,3 @@ A few things recur across these nodes.
**`fixed_frame_id`.** Where a node has to account for the robot moving between two stamps, it does so by asking TF how a frame moved relative to a fixed one — usually `odom`. Leaving it empty disables the compensation rather than erroring, so a moving robot then gets subtly misplaced data.
**`Grid/*` parameters.** Nodes that segment or assemble maps use RTAB-Map's own [`LocalGridMaker`](https://introlab.github.io/rtabmap/api/latest/classrtabmap_1_1LocalGridMaker.html), and expose its parameters directly under their RTAB-Map names. Their meanings and defaults are in RTAB-Map's [parameter reference](https://introlab.github.io/rtabmap/api/latest/parameters.html), which is the source of truth for them. One to know about: `Grid/RangeMax` is not unlimited by default, so distant points are dropped before anything else happens.
## Building the documentation
```bash
rosdoc2 build --package-path rtabmap_util --output-directory doc_output
```