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Adding ROS2 Kilted to CI (#1322)

Browse Source 
* Adding ROS2 Kilted to CI

* updated ros2 ci workflow

* updated version of action-ros-ci

* Updated dev containers, fixed kilted build

* Added git autocompletion
This commit is contained in:
matlabbe
2025-06-08 15:01:07 -07:00
committed by GitHub
parent 2d270e9c3c
commit 50fe38ef6c
18 changed files with 223 additions and 71 deletions
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.devcontainer/humble/Dockerfile
+17
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@@ -0,0 +1,17 @@
FROM introlab3it/rtabmap:jammy
ARG USERNAME=vscode
ARG USER_UID=1000
ARG USER_GID=1000
RUN set -ex && \
groupadd --gid ${USER_GID} ${USERNAME} && \
useradd --uid ${USER_UID} --gid ${USER_GID} -m ${USERNAME} && \
usermod -a -G sudo ${USERNAME}
RUN mkdir -p /home/${USERNAME}/ros2_ws/src && \
chown -R ${USERNAME}:${USERNAME} /home/${USERNAME}/ros2_ws
RUN echo "source /opt/ros/humble/setup.bash" >> /home/${USERNAME}/.bashrc
RUN echo "source /usr/share/bash-completion/completions/git" >> /home/${USERNAME}/.bashrc
.devcontainer/humble/devcontainer.json
+21 -6
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@@ -1,12 +1,27 @@
{
"image": "introlab3it/rtabmap_ros:humble-latest",
"build": {
"dockerfile": "Dockerfile",
"pull": true
},
"remoteUser": "vscode",
"customizations": {
"vscode": {
"extensions": ["ms-vscode.cpptools-themes", "ms-vscode.cmake-tools", "vscjava.vscode-java-pack"]
"extensions": [
"ms-vscode.cpptools-themes",
"ms-vscode.cmake-tools",
"ms-vscode.cpptools-extension-pack",
"ms-azuretools.vscode-docker",
"ms-python.python"]
}
},
"settings": {
"python.autoComplete.extraPaths": [
"/opt/ros/humble/lib/python3/dist-packages"
],
"terminal.integrated.defaultProfile.linux": "bash"
},
"workspaceMount": "source=${localWorkspaceFolder},target=/ros2_ws/src/rtabmap_ros,type=bind",
"workspaceFolder": "/ros2_ws",
"postAttachCommand": "echo 'Initialize colcon: source /opt/ros/humble/setup.bash && cd /ros2_ws && colcon build --cmake-args -DRTABMAP_SYNC_MULTI_RGBD=ON -DCMAKE_BUILD_TYPE=Release'",
"runArgs": ["--privileged"]
"workspaceMount": "source=${localWorkspaceFolder},target=/home/vscode/ros2_ws/src/rtabmap_ros,type=bind",
"workspaceFolder": "/home/vscode/ros2_ws",
"postCreateCommand": "echo 'Initialize: export MAKEFLAGS=\"-j6\" && colcon build --cmake-args -DRTABMAP_SYNC_MULTI_RGBD=ON -DCMAKE_BUILD_TYPE=Release --parallel-workers 2'"
//"runArgs": ["--privileged", "--runtime=nvidia", "--network=host"]
}
.devcontainer/jazzy/Dockerfile
+20
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@@ -0,0 +1,20 @@
FROM introlab3it/rtabmap:noble
# remove ubuntu user
RUN touch /var/mail/ubuntu && chown ubuntu /var/mail/ubuntu && userdel -r ubuntu
ARG USERNAME=vscode
ARG USER_UID=1000
ARG USER_GID=1000
RUN set -ex && \
groupadd --gid ${USER_GID} ${USERNAME} && \
useradd --uid ${USER_UID} --gid ${USER_GID} -m ${USERNAME} && \
usermod -a -G sudo ${USERNAME}
RUN mkdir -p /home/${USERNAME}/ros2_ws/src && \
chown -R ${USERNAME}:${USERNAME} /home/${USERNAME}/ros2_ws
RUN echo "source /opt/ros/jazzy/setup.bash" >> /home/${USERNAME}/.bashrc
RUN echo "source /usr/share/bash-completion/completions/git" >> /home/${USERNAME}/.bashrc
.devcontainer/jazzy/devcontainer.json
+21 -6
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@@ -1,12 +1,27 @@
{
"image": "introlab3it/rtabmap_ros:jazzy-latest",
"build": {
"dockerfile": "Dockerfile",
"pull": true
},
"remoteUser": "vscode",
"customizations": {
"vscode": {
"extensions": ["ms-vscode.cpptools-themes", "ms-vscode.cmake-tools", "vscjava.vscode-java-pack"]
"extensions": [
"ms-vscode.cpptools-themes",
"ms-vscode.cmake-tools",
"ms-vscode.cpptools-extension-pack",
"ms-azuretools.vscode-docker",
"ms-python.python"]
}
},
"settings": {
"python.autoComplete.extraPaths": [
"/opt/ros/jazzy/lib/python3/dist-packages"
],
"terminal.integrated.defaultProfile.linux": "bash"
},
"workspaceMount": "source=${localWorkspaceFolder},target=/ros2_ws/src/rtabmap_ros,type=bind",
"workspaceFolder": "/ros2_ws",
"postAttachCommand": "echo 'Initialize colcon: source /opt/ros/jazzy/setup.bash && cd /ros2_ws && colcon build --cmake-args -DRTABMAP_SYNC_MULTI_RGBD=ON -DCMAKE_BUILD_TYPE=Release'",
"runArgs": ["--privileged"]
"workspaceMount": "source=${localWorkspaceFolder},target=/home/vscode/ros2_ws/src/rtabmap_ros,type=bind",
"workspaceFolder": "/home/vscode/ros2_ws",
"postCreateCommand": "echo 'Initialize: export MAKEFLAGS=\"-j6\" && colcon build --cmake-args -DRTABMAP_SYNC_MULTI_RGBD=ON -DCMAKE_BUILD_TYPE=Release --parallel-workers 2'"
//"runArgs": ["--privileged", "--runtime=nvidia", "--network=host"]
}
.devcontainer/kilted/Dockerfile
+20
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@@ -0,0 +1,20 @@
FROM introlab3it/rtabmap:noble-kilted
# remove ubuntu user
RUN touch /var/mail/ubuntu && chown ubuntu /var/mail/ubuntu && userdel -r ubuntu
ARG USERNAME=vscode
ARG USER_UID=1000
ARG USER_GID=1000
RUN set -ex && \
groupadd --gid ${USER_GID} ${USERNAME} && \
useradd --uid ${USER_UID} --gid ${USER_GID} -m ${USERNAME} && \
usermod -a -G sudo ${USERNAME}
RUN mkdir -p /home/${USERNAME}/ros2_ws/src && \
chown -R ${USERNAME}:${USERNAME} /home/${USERNAME}/ros2_ws
RUN echo "source /opt/ros/kilted/setup.bash" >> /home/${USERNAME}/.bashrc
RUN echo "source /usr/share/bash-completion/completions/git" >> /home/${USERNAME}/.bashrc
.devcontainer/kilted/devcontainer.json
+27
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@@ -0,0 +1,27 @@
{
"build": {
"dockerfile": "Dockerfile",
"pull": true
},
"remoteUser": "vscode",
"customizations": {
"vscode": {
"extensions": [
"ms-vscode.cpptools-themes",
"ms-vscode.cmake-tools",
"ms-vscode.cpptools-extension-pack",
"ms-azuretools.vscode-docker",
"ms-python.python"]
}
},
"settings": {
"python.autoComplete.extraPaths": [
"/opt/ros/kilted/lib/python3/dist-packages"
],
"terminal.integrated.defaultProfile.linux": "bash"
},
"workspaceMount": "source=${localWorkspaceFolder},target=/home/vscode/ros2_ws/src/rtabmap_ros,type=bind",
"workspaceFolder": "/home/vscode/ros2_ws",
"postCreateCommand": "echo 'Initialize: export MAKEFLAGS=\"-j6\" && colcon build --cmake-args -DRTABMAP_SYNC_MULTI_RGBD=ON -DCMAKE_BUILD_TYPE=Release --parallel-workers 2'"
//"runArgs": ["--privileged", "--runtime=nvidia", "--network=host"]
}
.github/workflows/docker-ros2.yml
+6 -1
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@@ -12,7 +12,7 @@ jobs:
strategy:
fail-fast: false
matrix:
docker_tag: [humble, humble-latest, jazzy, jazzy-latest]
docker_tag: [humble, humble-latest, jazzy, jazzy-latest, kilted-latest]
include:
- docker_tag: humble
docker_path: 'humble'
@@ -33,6 +33,11 @@ jobs:
docker_platforms: |
linux/amd64
linux/arm64
- docker_tag: kilted-latest
docker_path: 'kilted/latest'
docker_platforms: |
linux/amd64
linux/arm64
steps:
-
.github/workflows/ros2.yml
+4 -14
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@@ -8,28 +8,18 @@ on:
branches: [ ros2 ]
env:
# Customize the CMake build type here (Release, Debug, RelWithDebInfo, etc.)
BUILD_TYPE: Release
jobs:
build:
# The CMake configure and build commands are platform agnostic and should work equally
# well on Windows or Mac. You can convert this to a matrix build if you need
# cross-platform coverage.
# See: https://docs.github.com/en/free-pro-team@latest/actions/learn-github-actions/managing-complex-workflows#using-a-build-matrix
name: Build ros2 ${{ matrix.ros_distro }} on ubuntu ${{ matrix.ubuntu_distro }}
name: Build ros2 ${{ matrix.ros_distro }}
runs-on: ubuntu-latest
strategy:
matrix:
ros_distro: [humble, jazzy]
include:
- ros_distro: 'humble'
ubuntu_distro: 'jammy'
- ros_distro: 'jazzy'
ubuntu_distro: 'noble'
ros_distro: [humble, jazzy, kilted]
fail-fast: false
container:
image: rostooling/setup-ros-docker:ubuntu-${{ matrix.ubuntu_distro }}-ros-${{ matrix.ros_distro }}-desktop-latest
image: osrf/ros:${{ matrix.ros_distro }}-desktop-full
steps:
- uses: actions/checkout@v4
- uses: ros-tooling/setup-ros@v0.7
@@ -38,7 +28,7 @@ jobs:
- run: |
echo "repositories:\n introlab/rtabmap:\n type: git\n url: https://github.com/introlab/rtabmap.git\n version: master\n" > /tmp/deps.repos &&\
cat /tmp/deps.repos
- uses: ros-tooling/action-ros-ci@v0.3
- uses: ros-tooling/action-ros-ci@v0.4
with:
package-name: rtabmap_ros
target-ros2-distro: ${{ matrix.ros_distro }}
docker/jazzy/Dockerfile
-1
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@@ -1,6 +1,5 @@
FROM osrf/ros:jazzy-desktop
# install rtabmap packages
ARG CACHE_DATE=2016-01-01
RUN apt-get update && apt-get install -y \
ros-jazzy-rtabmap \
ros-jazzy-rtabmap-ros \
docker/jazzy/latest/Dockerfile
+1 -1
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@@ -12,7 +12,7 @@ RUN source /ros_entrypoint.sh && \
rosdep init && \
rosdep update && \
apt-get update && \
rosdep install --from-paths src --ignore-src -r -y -t build_export -t test -t build -t buildtool_export -t buildtool --skip-keys="rtabmap nav2_bringup realsense2_camera nav2_msgs grid_map_ros" && \
rosdep install --from-paths src --ignore-src -r -y -t build_export -t test -t build -t buildtool_export -t buildtool --skip-keys="rtabmap grid_map_ros" && \
apt-get clean && rm -rf /var/lib/apt/lists/ && \
colcon build --event-handlers console_direct+ --install-base /opt/ros/$ROS_DISTRO --merge-install --cmake-args -DRTABMAP_SYNC_MULTI_RGBD=ON -DCMAKE_BUILD_TYPE=Release && \
cd && \
docker/kilted/Dockerfile
+6
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@@ -0,0 +1,6 @@
FROM osrf/ros:kilted-desktop
# install rtabmap packages
RUN apt-get update && apt-get install -y \
ros-kilted-rtabmap \
ros-kilted-rtabmap-ros \
&& rm -rf /var/lib/apt/lists/
docker/kilted/latest/Dockerfile
+19
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@@ -0,0 +1,19 @@
FROM introlab3it/rtabmap:24.04
RUN source /ros_entrypoint.sh && \
mkdir -p ros2_ws/src && \
cd ros2_ws/src
COPY . ros2_ws/src/rtabmap_ros
RUN source /ros_entrypoint.sh && \
cd ros2_ws && \
export MAKEFLAGS="-j1" && \
rosdep init && \
rosdep update && \
apt-get update && \
rosdep install --from-paths src --ignore-src -r -y -t build_export -t test -t build -t buildtool_export -t buildtool --skip-keys="rtabmap nav2_bringup realsense2_camera nav2_msgs grid_map_ros" && \
apt-get clean && rm -rf /var/lib/apt/lists/ && \
colcon build --event-handlers console_direct+ --install-base /opt/ros/$ROS_DISTRO --merge-install --cmake-args -DRTABMAP_SYNC_MULTI_RGBD=ON -DCMAKE_BUILD_TYPE=Release && \
cd && \
rm -rf ros2_ws
rtabmap_slam/CMakeLists.txt
+4
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@@ -57,6 +57,10 @@ SET(Libraries
rtabmap_sync
)
if("$ENV{ROS_DISTRO}" STRLESS "jazzy")
add_definitions(-DPRE_ROS_JAZZY)
endif()
###########
## Build ##
###########
rtabmap_slam/src/CoreWrapper.cpp
+41 -34
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@@ -90,6 +90,13 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap_conversions/MsgConversion.h"
#ifdef PRE_ROS_JAZZY
namespace rclcpp {
rmw_qos_profile_t ServicesQoS() {return rmw_qos_profile_services_default;}
rmw_qos_profile_t ParametersQoS() {return rmw_qos_profile_parameters;}
}
#endif
using namespace rtabmap;
namespace rtabmap_slam {
@@ -657,45 +664,45 @@ CoreWrapper::CoreWrapper(const rclcpp::NodeOptions & options) :
// setup services
const std::string servicePrefix = get_name() + std::string("/");
updateSrv_ = this->create_service<std_srvs::srv::Empty>(servicePrefix + "update_parameters", std::bind(&CoreWrapper::updateRtabmapCallback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3), rmw_qos_profile_services_default, processingCallbackGroup_);
resetSrv_ = this->create_service<std_srvs::srv::Empty>(servicePrefix + "reset", std::bind(&CoreWrapper::resetRtabmapCallback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3), rmw_qos_profile_services_default, processingCallbackGroup_);
pauseSrv_ = this->create_service<std_srvs::srv::Empty>(servicePrefix + "pause", std::bind(&CoreWrapper::pauseRtabmapCallback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3), rmw_qos_profile_services_default, processingCallbackGroup_);
resumeSrv_ = this->create_service<std_srvs::srv::Empty>(servicePrefix + "resume", std::bind(&CoreWrapper::resumeRtabmapCallback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3), rmw_qos_profile_services_default, processingCallbackGroup_);
loadDatabaseSrv_ = this->create_service<rtabmap_msgs::srv::LoadDatabase>(servicePrefix + "load_database", std::bind(&CoreWrapper::loadDatabaseCallback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3), rmw_qos_profile_services_default, processingCallbackGroup_);
triggerNewMapSrv_ = this->create_service<std_srvs::srv::Empty>(servicePrefix + "trigger_new_map", std::bind(&CoreWrapper::triggerNewMapCallback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3), rmw_qos_profile_services_default, processingCallbackGroup_);
backupDatabase_ = this->create_service<std_srvs::srv::Empty>(servicePrefix + "backup", std::bind(&CoreWrapper::backupDatabaseCallback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3), rmw_qos_profile_services_default, processingCallbackGroup_);
detectMoreLoopClosuresSrv_ = this->create_service<rtabmap_msgs::srv::DetectMoreLoopClosures>(servicePrefix + "detect_more_loop_closures", std::bind(&CoreWrapper::detectMoreLoopClosuresCallback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3), rmw_qos_profile_services_default, processingCallbackGroup_);
globalBundleAdjustmentSrv_ = this->create_service<rtabmap_msgs::srv::GlobalBundleAdjustment>(servicePrefix + "global_bundle_adjustment", std::bind(&CoreWrapper::globalBundleAdjustmentCallback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3), rmw_qos_profile_services_default, processingCallbackGroup_);
cleanupLocalGridsSrv_ = this->create_service<rtabmap_msgs::srv::CleanupLocalGrids>(servicePrefix + "cleanup_local_grids", std::bind(&CoreWrapper::cleanupLocalGridsCallback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3), rmw_qos_profile_services_default, processingCallbackGroup_);
setModeLocalizationSrv_ = this->create_service<std_srvs::srv::Empty>(servicePrefix + "set_mode_localization", std::bind(&CoreWrapper::setModeLocalizationCallback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3), rmw_qos_profile_services_default, processingCallbackGroup_);
setModeMappingSrv_ = this->create_service<std_srvs::srv::Empty>(servicePrefix + "set_mode_mapping", std::bind(&CoreWrapper::setModeMappingCallback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3), rmw_qos_profile_services_default, processingCallbackGroup_);
getNodeDataSrv_ = this->create_service<rtabmap_msgs::srv::GetNodeData>(servicePrefix + "get_node_data", std::bind(&CoreWrapper::getNodeDataCallback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3), rmw_qos_profile_services_default, processingCallbackGroup_);
getMapDataSrv_ = this->create_service<rtabmap_msgs::srv::GetMap>(servicePrefix + "get_map_data", std::bind(&CoreWrapper::getMapDataCallback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3), rmw_qos_profile_services_default, processingCallbackGroup_);
getMapData2Srv_ = this->create_service<rtabmap_msgs::srv::GetMap2>(servicePrefix + "get_map_data2", std::bind(&CoreWrapper::getMapData2Callback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3), rmw_qos_profile_services_default, processingCallbackGroup_);
getMapSrv_ = this->create_service<nav_msgs::srv::GetMap>(servicePrefix + "get_map", std::bind(&CoreWrapper::getMapCallback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3), rmw_qos_profile_services_default, processingCallbackGroup_);
getProbMapSrv_ = this->create_service<nav_msgs::srv::GetMap>(servicePrefix + "get_prob_map", std::bind(&CoreWrapper::getProbMapCallback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3), rmw_qos_profile_services_default, processingCallbackGroup_);
publishMapDataSrv_ = this->create_service<rtabmap_msgs::srv::PublishMap>(servicePrefix + "publish_map", std::bind(&CoreWrapper::publishMapCallback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3), rmw_qos_profile_services_default, processingCallbackGroup_);
getPlanSrv_ = this->create_service<nav_msgs::srv::GetPlan>(servicePrefix + "get_plan", std::bind(&CoreWrapper::getPlanCallback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3), rmw_qos_profile_services_default, processingCallbackGroup_);
getPlanNodesSrv_ = this->create_service<rtabmap_msgs::srv::GetPlan>(servicePrefix + "get_plan_nodes", std::bind(&CoreWrapper::getPlanNodesCallback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3), rmw_qos_profile_services_default, processingCallbackGroup_);
setGoalSrv_ = this->create_service<rtabmap_msgs::srv::SetGoal>(servicePrefix + "set_goal", std::bind(&CoreWrapper::setGoalCallback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3), rmw_qos_profile_services_default, processingCallbackGroup_);
cancelGoalSrv_ = this->create_service<std_srvs::srv::Empty>(servicePrefix + "cancel_goal", std::bind(&CoreWrapper::cancelGoalCallback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3), rmw_qos_profile_services_default, processingCallbackGroup_);
setLabelSrv_ = this->create_service<rtabmap_msgs::srv::SetLabel>(servicePrefix + "set_label", std::bind(&CoreWrapper::setLabelCallback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3), rmw_qos_profile_services_default, processingCallbackGroup_);
listLabelsSrv_ = this->create_service<rtabmap_msgs::srv::ListLabels>(servicePrefix + "list_labels", std::bind(&CoreWrapper::listLabelsCallback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3), rmw_qos_profile_services_default, processingCallbackGroup_);
removeLabelSrv_ = this->create_service<rtabmap_msgs::srv::RemoveLabel>(servicePrefix + "remove_label", std::bind(&CoreWrapper::removeLabelCallback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3), rmw_qos_profile_services_default, processingCallbackGroup_);
addLinkSrv_ = this->create_service<rtabmap_msgs::srv::AddLink>(servicePrefix + "add_link", std::bind(&CoreWrapper::addLinkCallback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3), rmw_qos_profile_services_default, processingCallbackGroup_);
getNodesInRadiusSrv_ = this->create_service<rtabmap_msgs::srv::GetNodesInRadius>(servicePrefix + "get_nodes_in_radius", std::bind(&CoreWrapper::getNodesInRadiusCallback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3), rmw_qos_profile_services_default, processingCallbackGroup_);
updateSrv_ = this->create_service<std_srvs::srv::Empty>(servicePrefix + "update_parameters", std::bind(&CoreWrapper::updateRtabmapCallback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3), rclcpp::ServicesQoS(), processingCallbackGroup_);
resetSrv_ = this->create_service<std_srvs::srv::Empty>(servicePrefix + "reset", std::bind(&CoreWrapper::resetRtabmapCallback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3), rclcpp::ServicesQoS(), processingCallbackGroup_);
pauseSrv_ = this->create_service<std_srvs::srv::Empty>(servicePrefix + "pause", std::bind(&CoreWrapper::pauseRtabmapCallback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3), rclcpp::ServicesQoS(), processingCallbackGroup_);
resumeSrv_ = this->create_service<std_srvs::srv::Empty>(servicePrefix + "resume", std::bind(&CoreWrapper::resumeRtabmapCallback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3), rclcpp::ServicesQoS(), processingCallbackGroup_);
loadDatabaseSrv_ = this->create_service<rtabmap_msgs::srv::LoadDatabase>(servicePrefix + "load_database", std::bind(&CoreWrapper::loadDatabaseCallback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3), rclcpp::ServicesQoS(), processingCallbackGroup_);
triggerNewMapSrv_ = this->create_service<std_srvs::srv::Empty>(servicePrefix + "trigger_new_map", std::bind(&CoreWrapper::triggerNewMapCallback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3), rclcpp::ServicesQoS(), processingCallbackGroup_);
backupDatabase_ = this->create_service<std_srvs::srv::Empty>(servicePrefix + "backup", std::bind(&CoreWrapper::backupDatabaseCallback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3), rclcpp::ServicesQoS(), processingCallbackGroup_);
detectMoreLoopClosuresSrv_ = this->create_service<rtabmap_msgs::srv::DetectMoreLoopClosures>(servicePrefix + "detect_more_loop_closures", std::bind(&CoreWrapper::detectMoreLoopClosuresCallback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3), rclcpp::ServicesQoS(), processingCallbackGroup_);
globalBundleAdjustmentSrv_ = this->create_service<rtabmap_msgs::srv::GlobalBundleAdjustment>(servicePrefix + "global_bundle_adjustment", std::bind(&CoreWrapper::globalBundleAdjustmentCallback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3), rclcpp::ServicesQoS(), processingCallbackGroup_);
cleanupLocalGridsSrv_ = this->create_service<rtabmap_msgs::srv::CleanupLocalGrids>(servicePrefix + "cleanup_local_grids", std::bind(&CoreWrapper::cleanupLocalGridsCallback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3), rclcpp::ServicesQoS(), processingCallbackGroup_);
setModeLocalizationSrv_ = this->create_service<std_srvs::srv::Empty>(servicePrefix + "set_mode_localization", std::bind(&CoreWrapper::setModeLocalizationCallback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3), rclcpp::ServicesQoS(), processingCallbackGroup_);
setModeMappingSrv_ = this->create_service<std_srvs::srv::Empty>(servicePrefix + "set_mode_mapping", std::bind(&CoreWrapper::setModeMappingCallback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3), rclcpp::ServicesQoS(), processingCallbackGroup_);
getNodeDataSrv_ = this->create_service<rtabmap_msgs::srv::GetNodeData>(servicePrefix + "get_node_data", std::bind(&CoreWrapper::getNodeDataCallback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3), rclcpp::ServicesQoS(), processingCallbackGroup_);
getMapDataSrv_ = this->create_service<rtabmap_msgs::srv::GetMap>(servicePrefix + "get_map_data", std::bind(&CoreWrapper::getMapDataCallback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3), rclcpp::ServicesQoS(), processingCallbackGroup_);
getMapData2Srv_ = this->create_service<rtabmap_msgs::srv::GetMap2>(servicePrefix + "get_map_data2", std::bind(&CoreWrapper::getMapData2Callback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3), rclcpp::ServicesQoS(), processingCallbackGroup_);
getMapSrv_ = this->create_service<nav_msgs::srv::GetMap>(servicePrefix + "get_map", std::bind(&CoreWrapper::getMapCallback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3), rclcpp::ServicesQoS(), processingCallbackGroup_);
getProbMapSrv_ = this->create_service<nav_msgs::srv::GetMap>(servicePrefix + "get_prob_map", std::bind(&CoreWrapper::getProbMapCallback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3), rclcpp::ServicesQoS(), processingCallbackGroup_);
publishMapDataSrv_ = this->create_service<rtabmap_msgs::srv::PublishMap>(servicePrefix + "publish_map", std::bind(&CoreWrapper::publishMapCallback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3), rclcpp::ServicesQoS(), processingCallbackGroup_);
getPlanSrv_ = this->create_service<nav_msgs::srv::GetPlan>(servicePrefix + "get_plan", std::bind(&CoreWrapper::getPlanCallback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3), rclcpp::ServicesQoS(), processingCallbackGroup_);
getPlanNodesSrv_ = this->create_service<rtabmap_msgs::srv::GetPlan>(servicePrefix + "get_plan_nodes", std::bind(&CoreWrapper::getPlanNodesCallback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3), rclcpp::ServicesQoS(), processingCallbackGroup_);
setGoalSrv_ = this->create_service<rtabmap_msgs::srv::SetGoal>(servicePrefix + "set_goal", std::bind(&CoreWrapper::setGoalCallback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3), rclcpp::ServicesQoS(), processingCallbackGroup_);
cancelGoalSrv_ = this->create_service<std_srvs::srv::Empty>(servicePrefix + "cancel_goal", std::bind(&CoreWrapper::cancelGoalCallback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3), rclcpp::ServicesQoS(), processingCallbackGroup_);
setLabelSrv_ = this->create_service<rtabmap_msgs::srv::SetLabel>(servicePrefix + "set_label", std::bind(&CoreWrapper::setLabelCallback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3), rclcpp::ServicesQoS(), processingCallbackGroup_);
listLabelsSrv_ = this->create_service<rtabmap_msgs::srv::ListLabels>(servicePrefix + "list_labels", std::bind(&CoreWrapper::listLabelsCallback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3), rclcpp::ServicesQoS(), processingCallbackGroup_);
removeLabelSrv_ = this->create_service<rtabmap_msgs::srv::RemoveLabel>(servicePrefix + "remove_label", std::bind(&CoreWrapper::removeLabelCallback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3), rclcpp::ServicesQoS(), processingCallbackGroup_);
addLinkSrv_ = this->create_service<rtabmap_msgs::srv::AddLink>(servicePrefix + "add_link", std::bind(&CoreWrapper::addLinkCallback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3), rclcpp::ServicesQoS(), processingCallbackGroup_);
getNodesInRadiusSrv_ = this->create_service<rtabmap_msgs::srv::GetNodesInRadius>(servicePrefix + "get_nodes_in_radius", std::bind(&CoreWrapper::getNodesInRadiusCallback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3), rclcpp::ServicesQoS(), processingCallbackGroup_);
#ifdef WITH_OCTOMAP_MSGS
#ifdef RTABMAP_OCTOMAP
octomapBinarySrv_ = this->create_service<octomap_msgs::srv::GetOctomap>(servicePrefix + "octomap_binary", std::bind(&CoreWrapper::octomapBinaryCallback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3), rmw_qos_profile_services_default, processingCallbackGroup_);
octomapFullSrv_ = this->create_service<octomap_msgs::srv::GetOctomap>(servicePrefix + "octomap_full", std::bind(&CoreWrapper::octomapFullCallback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3), rmw_qos_profile_services_default, processingCallbackGroup_);
octomapBinarySrv_ = this->create_service<octomap_msgs::srv::GetOctomap>(servicePrefix + "octomap_binary", std::bind(&CoreWrapper::octomapBinaryCallback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3), rclcpp::ServicesQoS(), processingCallbackGroup_);
octomapFullSrv_ = this->create_service<octomap_msgs::srv::GetOctomap>(servicePrefix + "octomap_full", std::bind(&CoreWrapper::octomapFullCallback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3), rclcpp::ServicesQoS(), processingCallbackGroup_);
#endif
#endif
//private services
setLogDebugSrv_ = this->create_service<std_srvs::srv::Empty>(servicePrefix + "log_debug", std::bind(&CoreWrapper::setLogDebug, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3), rmw_qos_profile_services_default, processingCallbackGroup_);
setLogInfoSrv_ = this->create_service<std_srvs::srv::Empty>(servicePrefix + "log_info", std::bind(&CoreWrapper::setLogInfo, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3), rmw_qos_profile_services_default, processingCallbackGroup_);
setLogWarnSrv_ = this->create_service<std_srvs::srv::Empty>(servicePrefix + "log_warning", std::bind(&CoreWrapper::setLogWarn, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3), rmw_qos_profile_services_default, processingCallbackGroup_);
setLogErrorSrv_ = this->create_service<std_srvs::srv::Empty>(servicePrefix + "log_error", std::bind(&CoreWrapper::setLogError, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3), rmw_qos_profile_services_default, processingCallbackGroup_);
setLogDebugSrv_ = this->create_service<std_srvs::srv::Empty>(servicePrefix + "log_debug", std::bind(&CoreWrapper::setLogDebug, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3), rclcpp::ServicesQoS(), processingCallbackGroup_);
setLogInfoSrv_ = this->create_service<std_srvs::srv::Empty>(servicePrefix + "log_info", std::bind(&CoreWrapper::setLogInfo, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3), rclcpp::ServicesQoS(), processingCallbackGroup_);
setLogWarnSrv_ = this->create_service<std_srvs::srv::Empty>(servicePrefix + "log_warning", std::bind(&CoreWrapper::setLogWarn, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3), rclcpp::ServicesQoS(), processingCallbackGroup_);
setLogErrorSrv_ = this->create_service<std_srvs::srv::Empty>(servicePrefix + "log_error", std::bind(&CoreWrapper::setLogError, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3), rclcpp::ServicesQoS(), processingCallbackGroup_);
int optimizeIterations = 0;
Parameters::parse(parameters_, Parameters::kOptimizerIterations(), optimizeIterations);
@@ -885,8 +892,8 @@ CoreWrapper::CoreWrapper(const rclcpp::NodeOptions & options) :
#endif
imuSub_ = this->create_subscription<sensor_msgs::msg::Imu>("imu", rclcpp::QoS(100).reliability((rmw_qos_reliability_policy_t)qosIMU), std::bind(&CoreWrapper::imuAsyncCallback, this, std::placeholders::_1), imuSubOptions);
republishNodeDataSub_ = this->create_subscription<std_msgs::msg::Int32MultiArray>(servicePrefix+"republish_node_data", 1, std::bind(&CoreWrapper::republishNodeDataCallback, this, std::placeholders::_1), subOptions);
parametersClient_ = std::make_shared<rclcpp::AsyncParametersClient>(this, std::string(), rclcpp::ParametersQoS(), processingCallbackGroup_);
parametersClient_ = std::make_shared<rclcpp::AsyncParametersClient>(this, std::string(), rmw_qos_profile_parameters, processingCallbackGroup_);
auto on_parameter_event_callback =
[this](const rcl_interfaces::msg::ParameterEvent::SharedPtr event) -> void
{
rtabmap_sync/include/rtabmap_sync/CommonDataSubscriber.h
+4 -4
View File
@@ -29,10 +29,10 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#define INCLUDE_RTABMAP_ROS_COMMONDATASUBSCRIBER_H_
#include <rtabmap_sync/visibility.h>
#include <message_filters/subscriber.h>
#include <message_filters/synchronizer.h>
#include <message_filters/sync_policies/approximate_time.h>
#include <message_filters/sync_policies/exact_time.h>
#include <message_filters/subscriber.hpp>
#include <message_filters/synchronizer.hpp>
#include <message_filters/sync_policies/approximate_time.hpp>
#include <message_filters/sync_policies/exact_time.hpp>
#include <image_transport/image_transport.hpp>
#include <image_transport/subscriber_filter.hpp>
rtabmap_util/CMakeLists.txt
+4
View File
@@ -56,6 +56,10 @@ SET(Libraries
rtabmap_conversions
)
if("$ENV{ROS_DISTRO}" STRLESS "jazzy")
add_definitions(-DPRE_ROS_JAZZY)
endif()
###########
## Build ##
###########
rtabmap_util/src/nodelets/imu_to_tf.cpp
+1 -3
View File
@@ -64,8 +64,7 @@ void ImuToTF::imuCallback(const sensor_msgs::msg::Imu::ConstSharedPtr msg)
{
tf2::Quaternion q;
tf2::fromMsg(msg->orientation, q);
tf2::Transform st;
st.setRotation(q);
tf2::Transform st(q);
std::string childFrameId = msg->header.frame_id;
@@ -97,7 +96,6 @@ void ImuToTF::imuCallback(const sensor_msgs::msg::Imu::ConstSharedPtr msg)
return;
}
}
st.setOrigin(tf2::Vector3(0,0,0));
geometry_msgs::msg::TransformStamped output;
output.header.frame_id = fixedFrameId_;
rtabmap_util/src/nodelets/map_assembler.cpp
+7 -1
View File
@@ -40,6 +40,12 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#endif
#endif
#ifdef PRE_ROS_JAZZY
namespace rclcpp{
rmw_qos_profile_t ServicesQoS() {return rmw_qos_profile_services_default;}
}
#endif
using namespace std::chrono_literals;
namespace rtabmap_util
@@ -187,7 +193,7 @@ MapAssembler::MapAssembler(const rclcpp::NodeOptions & options) :
// We cannot call the service and wait in the constructor, lets call it later and subscribe afterwards
serviceCbGroup_ = this->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
timerCbGroup_ = this->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
client_ = this->create_client<rtabmap_msgs::srv::GetMap>(getMapSrv, rmw_qos_profile_services_default, serviceCbGroup_); // Put it in a different group than the timer
client_ = this->create_client<rtabmap_msgs::srv::GetMap>(getMapSrv, rclcpp::ServicesQoS(), serviceCbGroup_); // Put it in a different group than the timer
timer_ = this->create_wall_timer(1s, std::bind(&MapAssembler::timerCallback, this), timerCbGroup_);
}