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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
45 changed files with 4481 additions and 76 deletions
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rtabmap_util/doc/point_cloud_aggregator.md
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@@ -33,6 +33,27 @@ With 2D or 3D lidars, feed the aggregator **deskewed** clouds: run a [lidar_desk
The two nodes correct different motions and you generally want both. Deskewing removes the distortion *within* each sweep, point by point, because a spinning lidar measures each point from a slightly different pose. `fixed_frame_id` here places whole clouds relative to each other, because the sensors did not fire at the same instant. Merging raw sweeps only merges their distortions.
One deskewing node per sensor, then this node, and optionally back to a `LaserScan`. Every stage that compensates motion needs the same fixed frame:
```mermaid
flowchart LR
L0["lidar_front driver"]
L1["lidar_left driver"]
L2["lidar_right driver"]
D0["lidar_deskewing<br>fixed_frame_id: odom"]
D1["lidar_deskewing<br>fixed_frame_id: odom"]
D2["lidar_deskewing<br>fixed_frame_id: odom"]
AGG["point_cloud_aggregator<br>count: 3<br>frame_id: base_link<br>fixed_frame_id: odom"]
SCAN["pointcloud_to_laserscan<br>optional"]
L0 -->|/lidar_front/points| D0
L1 -->|/lidar_left/points| D1
L2 -->|/lidar_right/points| D2
D0 -->|cloud1| AGG
D1 -->|cloud2| AGG
D2 -->|cloud3| AGG
AGG -->|combined_cloud| SCAN
```
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