i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-07 18:27:46 +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_util/src/MapsManager.cpp
+21 -14
View File
@@ -136,40 +136,47 @@ void MapsManager::init(rclcpp::Node & node, const std::string & name, bool)
// mapping topics
latched_.clear();
gridMapPub_ = node.create_publisher<nav_msgs::msg::OccupancyGrid>("map", rclcpp::QoS(1).reliable().durability(latching_?RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL:RMW_QOS_POLICY_DURABILITY_VOLATILE));
// Intra-process communication doesn't support transient local durability: when latching,
// disable it on these publishers, otherwise keep the node's setting.
rclcpp::PublisherOptions pubOptions;
if(latching_)
{
pubOptions.use_intra_process_comm = rclcpp::IntraProcessSetting::Disable;
}
gridMapPub_ = node.create_publisher<nav_msgs::msg::OccupancyGrid>("map", rclcpp::QoS(1).reliable().durability(latching_?RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL:RMW_QOS_POLICY_DURABILITY_VOLATILE), pubOptions);
latched_.insert(std::make_pair((void*)&gridMapPub_, false));
gridProbMapPub_ = node.create_publisher<nav_msgs::msg::OccupancyGrid>("grid_prob_map", rclcpp::QoS(1).reliable().durability(latching_?RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL:RMW_QOS_POLICY_DURABILITY_VOLATILE));
gridProbMapPub_ = node.create_publisher<nav_msgs::msg::OccupancyGrid>("grid_prob_map", rclcpp::QoS(1).reliable().durability(latching_?RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL:RMW_QOS_POLICY_DURABILITY_VOLATILE), pubOptions);
latched_.insert(std::make_pair((void*)&gridProbMapPub_, false));
cloudMapPub_ = node.create_publisher<sensor_msgs::msg::PointCloud2>("cloud_map", rclcpp::QoS(1).reliable().durability(latching_?RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL:RMW_QOS_POLICY_DURABILITY_VOLATILE));
cloudMapPub_ = node.create_publisher<sensor_msgs::msg::PointCloud2>("cloud_map", rclcpp::QoS(1).reliable().durability(latching_?RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL:RMW_QOS_POLICY_DURABILITY_VOLATILE), pubOptions);
latched_.insert(std::make_pair((void*)&cloudMapPub_, false));
cloudObstaclesPub_ = node.create_publisher<sensor_msgs::msg::PointCloud2>("cloud_obstacles", rclcpp::QoS(1).reliable().durability(latching_?RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL:RMW_QOS_POLICY_DURABILITY_VOLATILE));
cloudObstaclesPub_ = node.create_publisher<sensor_msgs::msg::PointCloud2>("cloud_obstacles", rclcpp::QoS(1).reliable().durability(latching_?RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL:RMW_QOS_POLICY_DURABILITY_VOLATILE), pubOptions);
latched_.insert(std::make_pair((void*)&cloudObstaclesPub_, false));
cloudGroundPub_ = node.create_publisher<sensor_msgs::msg::PointCloud2>("cloud_ground", rclcpp::QoS(1).reliable().durability(latching_?RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL:RMW_QOS_POLICY_DURABILITY_VOLATILE));
cloudGroundPub_ = node.create_publisher<sensor_msgs::msg::PointCloud2>("cloud_ground", rclcpp::QoS(1).reliable().durability(latching_?RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL:RMW_QOS_POLICY_DURABILITY_VOLATILE), pubOptions);
latched_.insert(std::make_pair((void*)&cloudGroundPub_, false));
#ifdef RTABMAP_OCTOMAP
#ifdef WITH_OCTOMAP_MSGS
octoMapPubBin_ = node.create_publisher<octomap_msgs::msg::Octomap>("octomap_binary", rclcpp::QoS(1).reliable().durability(latching_?RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL:RMW_QOS_POLICY_DURABILITY_VOLATILE));
octoMapPubBin_ = node.create_publisher<octomap_msgs::msg::Octomap>("octomap_binary", rclcpp::QoS(1).reliable().durability(latching_?RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL:RMW_QOS_POLICY_DURABILITY_VOLATILE), pubOptions);
latched_.insert(std::make_pair((void*)&octoMapPubBin_, false));
octoMapPubFull_ = node.create_publisher<octomap_msgs::msg::Octomap>("octomap_full", rclcpp::QoS(1).reliable().durability(latching_?RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL:RMW_QOS_POLICY_DURABILITY_VOLATILE));
octoMapPubFull_ = node.create_publisher<octomap_msgs::msg::Octomap>("octomap_full", rclcpp::QoS(1).reliable().durability(latching_?RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL:RMW_QOS_POLICY_DURABILITY_VOLATILE), pubOptions);
latched_.insert(std::make_pair((void*)&octoMapPubFull_, false));
#endif
octoMapCloud_ = node.create_publisher<sensor_msgs::msg::PointCloud2>("octomap_occupied_space", rclcpp::QoS(1).reliable().durability(latching_?RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL:RMW_QOS_POLICY_DURABILITY_VOLATILE)); // FIXME latching option in ROS2?
octoMapCloud_ = node.create_publisher<sensor_msgs::msg::PointCloud2>("octomap_occupied_space", rclcpp::QoS(1).reliable().durability(latching_?RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL:RMW_QOS_POLICY_DURABILITY_VOLATILE), pubOptions); // FIXME latching option in ROS2?
latched_.insert(std::make_pair((void*)&octoMapCloud_, false));
octoMapFrontierCloud_ = node.create_publisher<sensor_msgs::msg::PointCloud2>("octomap_global_frontier_space", rclcpp::QoS(1).reliable().durability(latching_?RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL:RMW_QOS_POLICY_DURABILITY_VOLATILE));
octoMapFrontierCloud_ = node.create_publisher<sensor_msgs::msg::PointCloud2>("octomap_global_frontier_space", rclcpp::QoS(1).reliable().durability(latching_?RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL:RMW_QOS_POLICY_DURABILITY_VOLATILE), pubOptions);
latched_.insert(std::make_pair((void*)&octoMapFrontierCloud_, false));
octoMapObstacleCloud_ = node.create_publisher<sensor_msgs::msg::PointCloud2>("octomap_obstacles", rclcpp::QoS(1).reliable().durability(latching_?RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL:RMW_QOS_POLICY_DURABILITY_VOLATILE));
octoMapObstacleCloud_ = node.create_publisher<sensor_msgs::msg::PointCloud2>("octomap_obstacles", rclcpp::QoS(1).reliable().durability(latching_?RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL:RMW_QOS_POLICY_DURABILITY_VOLATILE), pubOptions);
latched_.insert(std::make_pair((void*)&octoMapObstacleCloud_, false));
octoMapGroundCloud_ = node.create_publisher<sensor_msgs::msg::PointCloud2>("octomap_ground", rclcpp::QoS(1).reliable().durability(latching_?RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL:RMW_QOS_POLICY_DURABILITY_VOLATILE));
octoMapGroundCloud_ = node.create_publisher<sensor_msgs::msg::PointCloud2>("octomap_ground", rclcpp::QoS(1).reliable().durability(latching_?RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL:RMW_QOS_POLICY_DURABILITY_VOLATILE), pubOptions);
latched_.insert(std::make_pair((void*)&octoMapGroundCloud_, false));
octoMapEmptySpace_ = node.create_publisher<sensor_msgs::msg::PointCloud2>("octomap_empty_space", rclcpp::QoS(1).reliable().durability(latching_?RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL:RMW_QOS_POLICY_DURABILITY_VOLATILE));
octoMapEmptySpace_ = node.create_publisher<sensor_msgs::msg::PointCloud2>("octomap_empty_space", rclcpp::QoS(1).reliable().durability(latching_?RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL:RMW_QOS_POLICY_DURABILITY_VOLATILE), pubOptions);
latched_.insert(std::make_pair((void*)&octoMapEmptySpace_, false));
octoMapProj_ = node.create_publisher<nav_msgs::msg::OccupancyGrid>("octomap_grid", rclcpp::QoS(1).reliable().durability(latching_?RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL:RMW_QOS_POLICY_DURABILITY_VOLATILE));
octoMapProj_ = node.create_publisher<nav_msgs::msg::OccupancyGrid>("octomap_grid", rclcpp::QoS(1).reliable().durability(latching_?RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL:RMW_QOS_POLICY_DURABILITY_VOLATILE), pubOptions);
latched_.insert(std::make_pair((void*)&octoMapProj_, false));
#endif
#if defined(WITH_GRID_MAP_ROS) and defined(RTABMAP_GRIDMAP)
elevationMapPub_ = node.create_publisher<grid_map_msgs::msg::GridMap>("elevation_map", rclcpp::QoS(1).reliable().durability(latching_?RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL:RMW_QOS_POLICY_DURABILITY_VOLATILE));
elevationMapPub_ = node.create_publisher<grid_map_msgs::msg::GridMap>("elevation_map", rclcpp::QoS(1).reliable().durability(latching_?RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL:RMW_QOS_POLICY_DURABILITY_VOLATILE), pubOptions);
latched_.insert(std::make_pair((void*)&elevationMapPub_, false));
#endif
}