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rtabmap_util tests and doc (#1450)

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* Initial tests

* more tests

* More in-depth deskew() testing

* slightly less verbose clamping corruption warning

* added tf buffer related tests

* added remaining tests

* Added rosdoc2, improve tests when we require sync of odom stamp and sensor stamp

* cleanup doc

* fixing ci

* rtabmap_util tests and doc

* Added db_player tests

* Added MapsManager tests

* Added map_assembler tests

* Documenting node first draft

* relative links

* Fixed british->usa english style. Reviewed all md files.

* added link to install ros1

* updated badges

* added Iron

* added ubuntu

* added codecov

* updated coverage ci

* fixing rosdep

* updated ci cov job

* ci bump

* fixing cov ci

* small doc cleanup
This commit is contained in:
matlabbe
2026-09-07 21:23:22 -07:00
committed by GitHub
parent f77dda2b58
commit 61edb4ee85
60 changed files with 9443 additions and 192 deletions
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.github/workflows/coverage.yml
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name: Coverage
on:
push:
branches: [ ros2 ]
pull_request:
branches: [ ros2 ]
workflow_dispatch:
concurrency:
group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
cancel-in-progress: ${{ github.event_name == 'pull_request' }}
permissions:
contents: read
id-token: write
jobs:
coverage:
name: Coverage (humble)
runs-on: ubuntu-latest
container:
# RTAB-Map master, already built and installed on top of ROS Humble
# (jammy = 22.04) -- the same base the repo's own docker/humble image
# uses. Saves building the library here, and pins the coverage run to
# RTAB-Map master rather than whatever the released binaries carry.
image: introlab3it/rtabmap:jammy
env:
CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }}
steps:
- uses: actions/checkout@v4
# The container runs as root, so no sudo (it is not installed).
#
# colcon lcov-result is not a built-in verb -- it comes from the
# colcon-lcov-result package, which action-ros-ci calls but does not
# install. ros2.yml gets it for free because it runs ros-tooling/setup-ros
# first; this job calls action-ros-ci directly, so install it here.
# Without it action-ros-ci logs "invalid choice: 'lcov-result'", ignores
# the failure, and the job goes green having measured nothing.
# Versions pinned to the ones setup-ros uses.
- run: |
export DEBIAN_FRONTEND=noninteractive
apt-get update
# lcov for genhtml (the browsable artifact below); colcon-lcov-result
# shells out to it too.
apt-get install -y lcov python3-pip
pip3 install -U \
colcon-lcov-result==0.5.0 \
colcon-coveragepy-result==0.0.8
colcon lcov-result --help > /dev/null
# The image ships rosdep but has never initialized it -- the repo's
# own docker/humble Dockerfile runs `rosdep init` for the same reason.
# action-ros-ci only runs `rosdep update`, which fails with "no
# sources directory exists" until this has happened once.
rosdep init || true
# Only the packages that have tests. The others are still built when a
# tested package depends on them (--packages-up-to), just not measured.
- uses: ros-tooling/action-ros-ci@v0.4
with:
package-name: rtabmap_conversions rtabmap_util
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.
rosdep-skip-keys: rtabmap
# The coverage-gcc mixin only adds --coverage; it sets no build type,
# and neither action-ros-ci nor this repo's CMakeLists do. Without
# this the build type is empty, which happens to mean -O0 but is not
# guaranteed to stay that way -- and at -O2 inlining and dead-code
# elimination make gcov's line attribution unreliable.
extra-cmake-args: -DCMAKE_BUILD_TYPE=Debug
colcon-defaults: |
{
"build": {
"mixin": ["coverage-gcc"]
}
}
# Pinned so a change in the mixin repository cannot break this job.
colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/b8436aa16c0bdbc01081b12caa253cbf16e0fb82/index.yaml
# Run the coverage passes ourselves, in the step below. The action's
# own baseline pass is a bare `colcon lcov-result --initial` with no
# package selection, so it walks every package in the workspace --
# including the ones --packages-up-to never built -- and fails with
# "cannot read .../build/rtabmap_viz".
coverage-result: false
# Both passes restricted to the packages that were actually built.
#
# lcov captures each package's whole build directory, so more than this
# repo's sources land in it. Filtered:
# */test/* the test sources -- the instrument, not the subject. A line
# there is uncovered only when the test skipped it, which says
# nothing about the code under test, and they are near-fully
# covered by construction.
# /usr/*, /opt/* everything outside the workspace. RTAB-Map's own .cpp
# files are never captured (the library is installed in the
# image, not built here), but its inline and template code is
# emitted into the objects of the packages that include it,
# as are PCL, Eigen and the standard library.
# *CompilerId*, */CMakeFiles/* CMake's compiler-probe translation
# units. colcon-lcov-result tries to delete their .gcno files
# but misses these, and they are recorded against a path that
# does not exist -- which kills the genhtml pass colcon runs
# at the end ("cannot read .../CMakeCCompilerId.c", exit 2).
# Filters run before that pass, so dropping them here is
# enough.
# Quoting them matters: action-ros-ci injects filters unquoted, so the
# shell can glob them away before colcon ever sees them.
- name: Coverage report
working-directory: ros_ws
run: |
# `.` not `source`: steps in this container run under sh (dash), where
# `source` does not exist. GitHub picks sh whenever it cannot find
# bash in the image's PATH, and says so in the log ("shell: sh -e").
. /opt/ros/humble/setup.sh
PKGS="rtabmap_conversions rtabmap_util"
# 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
# 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 \
--filter '*/test/*' '/usr/*' '/opt/*' \
'*CompilerId*' '*/CMakeFiles/*' || true
test -s lcov/total_coverage.info
# Fails the job if the step above produced nothing -- the failure mode
# this workflow has hit twice already is a green run that measured zero.
- name: Coverage summary
run: lcov --summary ros_ws/lcov/total_coverage.info
# colcon lcov-result runs genhtml itself, into the same lcov/ directory.
- name: Upload HTML coverage artifact
uses: actions/upload-artifact@v4
with:
name: coverage-html
path: ros_ws/lcov
retention-days: 14
- name: Upload to Codecov
if: ${{ env.CODECOV_TOKEN != '' }}
uses: codecov/codecov-action@v5
with:
files: ros_ws/lcov/total_coverage.info
# Upload ONLY the aggregated lcov file. By default the CLI also walks
# the tree and runs gcov over every .gcno it finds, which re-adds the
# test sources the --filter above just dropped.
disable_search: true
plugins: noop
token: ${{ env.CODECOV_TOKEN }}
fail_ci_if_error: false