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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_util/src/nodelets/point_cloud_aggregator.cpp
+12 -27
View File
@@ -41,8 +41,6 @@ namespace rtabmap_util
PointCloudAggregator::PointCloudAggregator(const rclcpp::NodeOptions & options) :
Node("point_cloud_aggregator", options),
warningThread_(0),
callbackCalled_(false),
exactSync4_(0),
approxSync4_(0),
exactSync3_(0),
@@ -162,23 +160,16 @@ PointCloudAggregator::PointCloudAggregator(const rclcpp::NodeOptions & options)
}
warningThread_ = new std::thread([&](){
rclcpp::Rate r(1.0/5.0);
while(!callbackCalled_)
{
r.sleep();
if(!callbackCalled_)
{
RCLCPP_WARN(this->get_logger(), "%s: Did not receive data since 5 seconds! Make sure the input topics are "
"published (\"$ ros2 topic hz my_topic\") and the timestamps in their "
"header are set. %s%s",
this->get_name(),
approx?"":"Parameter \"approx_sync\" is false, which means that input "
"topics should have all the exact timestamp for the callback to be called.",
subscribedTopicsMsg.c_str());
}
}
});
syncDiagnostic_.reset(new rtabmap_sync::SyncDiagnostic(this, 0.5));
syncDiagnostic_->init(cloudSub_1_.getSubscriber()->get_topic_name(),
uFormat("%s: Did not receive data since 5 seconds! Make sure the input topics are "
"published (\"$ ros2 topic hz my_topic\") and the timestamps in their "
"header are set. %s%s",
this->get_name(),
approx?"":"Parameter \"approx_sync\" is false, which means that input "
"topics should have all the exact timestamp for the callback to be called.",
subscribedTopicsMsg.c_str()));
RCLCPP_INFO(this->get_logger(), "%s", subscribedTopicsMsg.c_str());
}
@@ -190,13 +181,6 @@ PointCloudAggregator::~PointCloudAggregator()
delete approxSync3_;
delete exactSync2_;
delete approxSync2_;
if(warningThread_)
{
callbackCalled_=true;
warningThread_->join();
delete warningThread_;
}
}
void PointCloudAggregator::clouds4_callback(const sensor_msgs::msg::PointCloud2::ConstSharedPtr cloudMsg_1,
@@ -234,8 +218,8 @@ void PointCloudAggregator::clouds2_callback(const sensor_msgs::msg::PointCloud2:
}
void PointCloudAggregator::combineClouds(const std::vector<sensor_msgs::msg::PointCloud2::ConstSharedPtr> & cloudMsgs)
{
callbackCalled_ = true;
UASSERT(cloudMsgs.size() > 1);
syncDiagnostic_->tickInput(cloudMsgs[0]->header.stamp);
if(cloudPub_->get_subscription_count())
{
pcl::PCLPointCloud2::Ptr output(new pcl::PCLPointCloud2);
@@ -420,6 +404,7 @@ void PointCloudAggregator::combineClouds(const std::vector<sensor_msgs::msg::Poi
rosCloud->header.frame_id = frameId;
cloudPub_->publish(std::move(rosCloud));
}
syncDiagnostic_->tickOutput(cloudMsgs[0]->header.stamp);
}
}