i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-08 02:37:45 +08:00
Code Issues Packages Projects Releases Wiki Activity

rtabmap_slam tests and doc (#1460)

Browse Source 
* 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
Download Patch File Download Diff File Expand all files Collapse all files
rtabmap_conversions/include/rtabmap_conversions/MsgConversion.h
+6 -4
View File
@@ -832,9 +832,9 @@ bool convertStereoMsg(
* @param odomStamp stamp the scan is synchronized to
* @param[out] scan the converted scan
* @param tfBuffer must contain @p frameId -> the laser frame at the scan stamp,
* and the laser frame relative to @p odomFrameId (or @p frameId
* when that is empty) across the whole sweep, since the points
* are projected through it
* and, to deskew, the laser frame relative to @p odomFrameId
* across the whole sweep, since the points are projected through
* it
* @param waitForTransform seconds to wait for TF, 0 to not wait
* @param outputInFrameId express the points in @p frameId rather than the laser frame
* @return false if the scan is malformed (zero angle increment, inverted range or angle
@@ -846,7 +846,9 @@ bool convertStereoMsg(
* target is a fixed frame, i.e. if @p odomFrameId is set — with it empty the
* target is @p frameId, which does not move relative to itself. This is also why
* the laser frame must be known across the whole sweep, which the function checks
* up front.
* up front. When it is not known relative to @p odomFrameId -- odometry not
* published on TF -- the scan is converted as with @p odomFrameId empty, neither
* deskewed nor synchronized, with a warning shown once, rather than refused.
* @note The odometry correction is applied only when the scan stamp differs from
* @p odomStamp; a failed correction lookup warns and leaves the pose uncorrected.
*/