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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_odom/src/nodelets/icp_odometry.cpp
+1 -1
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@@ -313,7 +313,7 @@ void ICPOdometry::callbackScan(const sensor_msgs::msg::LaserScan::SharedPtr scan
scanMsg->header.frame_id,
guessFrameId().empty()?frameId():guessFrameId(),
scanMsg->header.stamp,
rclcpp::Time(scanMsg->header.stamp.sec, scanMsg->header.stamp.nanosec) + rclcpp::Duration::from_seconds(scanMsg->ranges.size()*scanMsg->time_increment),
rclcpp::Time(scanMsg->header.stamp.sec, scanMsg->header.stamp.nanosec) + rclcpp::Duration::from_seconds((scanMsg->ranges.empty()?0:scanMsg->ranges.size()-1)*scanMsg->time_increment),
this->tfBuffer(),
this->waitForTransform());
if(tmpT.isNull())