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Adding ROS2 Kilted to CI (#1322)

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* 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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rtabmap_slam/CMakeLists.txt
+4
View File
@@ -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
{