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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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rtabmap_conversions/src/MsgConversion.cpp
+12 -2
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@@ -255,6 +255,11 @@ void toCvShare(const rtabmap_msgs::msg::RGBDImage & image, const std::shared_ptr
depth = ptr;
}
}
else
{
// empty
depth = std::make_shared<cv_bridge::CvImage>();
}
}
catch(cv::Exception& e) {
UFATAL("Fatal error while converting rgbd image (do you have multiple opencv versions? if so, make sure cv_bridge is loading the right opencv libraries on runtime): %s", e.what());
@@ -432,7 +437,11 @@ rtabmap::SensorData rgbdImageFromROS(const rtabmap_msgs::msg::RGBDImage::ConstSh
int depthWidth = depthMsg->image.cols;
int depthHeight = depthMsg->image.rows;
// The depth image is optional: a message can legitimately carry only the color
// image and its camera info. Compare the resolutions only when there is a depth
// image, otherwise the ratios divide by zero.
UASSERT_MSG(
depthMsg->image.empty() ||
imageWidth/depthWidth == imageHeight/depthHeight,
uFormat("rgb=%dx%d depth=%dx%d", imageWidth, imageHeight, depthWidth, depthHeight).c_str());
@@ -448,7 +457,8 @@ rtabmap::SensorData rgbdImageFromROS(const rtabmap_msgs::msg::RGBDImage::ConstSh
imageMsg->encoding.compare(sensor_msgs::image_encodings::BGRA8) == 0 ||
imageMsg->encoding.compare(sensor_msgs::image_encodings::RGBA8) == 0 ||
imageMsg->encoding.compare(sensor_msgs::image_encodings::BAYER_GRBG8) == 0) ||
!(depthMsg->encoding.compare(sensor_msgs::image_encodings::TYPE_16UC1) == 0 ||
!(depthMsg->image.empty() ||
depthMsg->encoding.compare(sensor_msgs::image_encodings::TYPE_16UC1) == 0 ||
depthMsg->encoding.compare(sensor_msgs::image_encodings::TYPE_32FC1) == 0 ||
depthMsg->encoding.compare(sensor_msgs::image_encodings::MONO16) == 0))
{
@@ -2707,7 +2717,7 @@ bool convertScanMsg(
scan2dMsg.header.frame_id,
odomFrameId.empty()?frameId:odomFrameId,
rclcpp::Time(scan2dMsg.header.stamp.sec, scan2dMsg.header.stamp.nanosec),
rclcpp::Time(scan2dMsg.header.stamp.sec, scan2dMsg.header.stamp.nanosec) + rclcpp::Duration::from_seconds(scan2dMsg.ranges.size()*scan2dMsg.time_increment),
rclcpp::Time(scan2dMsg.header.stamp.sec, scan2dMsg.header.stamp.nanosec) + rclcpp::Duration::from_seconds((scan2dMsg.ranges.empty()?0:scan2dMsg.ranges.size()-1)*scan2dMsg.time_increment),
tfBuffer,
waitForTransform);
if(tmpT.isNull())