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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()
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matlabbe
2026-09-28 13:09:51 -07:00
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README.md
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@@ -35,7 +35,7 @@ The stack is split into small packages so a pipeline only pulls in what it uses.
| Package | Description |
|---|---|
| `rtabmap_slam` | The `rtabmap` node itself: appearance-based loop closure detection, graph optimization, memory management and map assembly. |
| [`rtabmap_slam`](rtabmap_slam/README.md) | The `rtabmap` node itself: appearance-based loop closure detection, graph optimization, memory management and map assembly. |
| [`rtabmap_odom`](rtabmap_odom/README.md) | Odometry nodes — `rgbd_odometry`, `stereo_odometry` and `icp_odometry`. Any external odometry can be used instead. |
| [`rtabmap_sync`](rtabmap_sync/README.md) | Synchronizes camera and lidar topics into a single message so they reach the SLAM node together — `rgbd_sync`, `stereo_sync`, `rgbdx_sync`. |