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rtabmap_slam tests and doc (#1460)

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* rtabmap_slam tests and doc

* another round of review of the doc

* Disable by default use_intra_process_comms on latched/transient publishers

* Added test to catch not unlocked mutex from early error exit

* updated coverage settings

* Using UScopeMutex on all tryLock()
This commit is contained in:
matlabbe
2026-09-28 13:09:51 -07:00
committed by GitHub
parent 853a434fe9
commit 5207dab7c2
30 changed files with 5832 additions and 118 deletions
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.github/workflows/coverage.yml
+6 -4
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@@ -60,7 +60,7 @@ jobs:
# tested package depends on them (--packages-up-to), just not measured.
- uses: ros-tooling/[email protected]
with:
package-name: rtabmap_conversions rtabmap_util rtabmap_sync rtabmap_odom rtabmap_python
package-name: rtabmap_conversions rtabmap_util rtabmap_sync rtabmap_odom rtabmap_slam rtabmap_python
target-ros2-distro: humble
# RTAB-Map is installed in the image, not as an apt package, so rosdep
# cannot resolve the key and must not try.
@@ -120,16 +120,18 @@ jobs:
. /opt/ros/humble/setup.sh
# C++ packages only -- rtabmap_python emits no .gcno for lcov to read,
# and is measured by the coveragepy step below instead.
PKGS="rtabmap_conversions rtabmap_util rtabmap_sync rtabmap_odom"
PKGS="rtabmap_conversions rtabmap_util rtabmap_sync rtabmap_odom rtabmap_slam"
# Baseline from the .gcno files. Without it a source file that no test
# ever loaded is missing from the report altogether rather than
# counted as 0%, which quietly inflates the result.
colcon lcov-result --initial --packages-select $PKGS
# Line coverage only, no branch coverage: see the comment in .github/lcovrc.
LCOVRC=src/rtabmap_ros/.github/lcovrc
colcon lcov-result --initial --packages-select $PKGS --lcov-config-file $LCOVRC
# The verb ends by running genhtml and returns *its* exit code, so a
# cosmetic HTML hiccup fails the whole job even though the report was
# written. The deliverable is total_coverage.info; the HTML is a
# convenience. Tolerate the former, then gate on the latter.
colcon lcov-result --packages-select $PKGS --verbose \
colcon lcov-result --packages-select $PKGS --lcov-config-file $LCOVRC --verbose \
--filter '*/test/*' '/usr/*' '/opt/*' \
'*CompilerId*' '*/CMakeFiles/*' || true
test -s lcov/total_coverage.info