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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
committed by GitHub
parent 853a434fe9
commit 5207dab7c2
30 changed files with 5832 additions and 118 deletions
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rtabmap_launch/launch/rtabmap.launch.py
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@@ -508,7 +508,7 @@ def generate_launch_description():
DeclareLaunchArgument('odom_tf_angular_variance', default_value='0.01', description='If TF is used to get odometry, this is the default angular variance'),
DeclareLaunchArgument('odom_tf_linear_variance', default_value='0.001', description='If TF is used to get odometry, this is the default linear variance'),
DeclareLaunchArgument('odom_args', default_value='', description='More arguments for odometry (overwrite same parameters in rtabmap_args).'),
DeclareLaunchArgument('odom_sensor_sync', default_value='false', description=''),
DeclareLaunchArgument('odom_sensor_sync', default_value='true', description='Correct each sensor\'s position for the motion between its stamp and the odometry\'s, using TF.'),
DeclareLaunchArgument('odom_guess_frame_id', default_value='', description=''),
DeclareLaunchArgument('odom_guess_min_translation', default_value='0.0', description=''),
DeclareLaunchArgument('odom_guess_min_rotation', default_value='0.0', description=''),