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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
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
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rtabmap_util/doc/pointcloud_to_depthimage.md
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@@ -28,6 +28,23 @@ ComposableNode(
('camera_info', '/camera/color/camera_info')])
```
The lidar supplies the geometry, the camera supplies the pose and the color, and the result joins an ordinary RGB-D pipeline:
```mermaid
flowchart LR
LIDAR["lidar driver"]
CAM["camera driver"]
P2D["pointcloud_to_depthimage<br>fixed_frame_id: odom"]
SYNC["rgbd_sync"]
MAP["rtabmap"]
LIDAR -->|cloud| P2D
CAM -->|camera_info| P2D
CAM -->|rgb/image| SYNC
CAM -->|rgb/camera_info| SYNC
P2D -->|image_raw as depth/image| SYNC
SYNC -->|rgbd_image| MAP
```
## Subscribed Topics
| Topic | Type | Description |