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merged master->ros2

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matlabbe
2023-04-09 12:32:43 -07:00
parent a430f02cdc fc9ca0e40d
commit 822ba11ef7
17 changed files with 53 additions and 54 deletions
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.github/workflows/ros1.yml
+14 -25
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@@ -20,53 +20,42 @@ jobs:
runs-on: ${{ matrix.os }}
strategy:
matrix:
os: [ubuntu-20.04, ubuntu-18.04]
os: [ubuntu-20.04]
include:
- os: ubuntu-20.04
ros_distro: 'noetic'
- os: ubuntu-18.04
ros_distro: 'melodic'
steps:
- uses: ros-tooling/setup-ros@v0.2
with:
required-ros-distributions: ${{ matrix.ros_distro }}
- name: Install dependencies
run: |
sudo apt-get update
sudo apt-get -y install ros-${{ matrix.ros_distro }}-rtabmap-ros
sudo apt-get -y install ros-${{ matrix.ros_distro }}-rtabmap-ros python3-catkin-tools
sudo apt-get -y remove ros-${{ matrix.ros_distro }}-rtabmap
- uses: actions/checkout@v2
with:
repository: 'introlab/rtabmap'
path: 'rtabmap'
- name: Setup catkin workspace
run: |
source /opt/ros/${{ matrix.ros_distro }}/setup.bash
mkdir -p ${{github.workspace}}/catkin_ws/src
cd ${{github.workspace}}/catkin_ws/src
catkin_init_workspace
cd ..
catkin_make
catkin config --init --cmake-args -DSETUPTOOLS_DEB_LAYOUT=OFF
- uses: actions/checkout@v2
with:
repository: 'introlab/rtabmap'
path: 'catkin_ws/src/rtabmap'
- uses: actions/checkout@v2
with:
path: 'catkin_ws/src/rtabmap_ros'
- name: Build latest rtabmap library
run: |
source /opt/ros/${{ matrix.ros_distro }}/setup.bash
cd ${{github.workspace}}/rtabmap
cmake -B build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} -DCMAKE_INSTALL_PREFIX=${{github.workspace}}/catkin_ws/devel
cmake --build build --config ${{env.BUILD_TYPE}} --target install
- name: caktkin_make
- name: caktkin build
run: |
source /opt/ros/${{ matrix.ros_distro }}/setup.bash
source ${{github.workspace}}/catkin_ws/devel/setup.bash
cd ${{github.workspace}}/catkin_ws
catkin_make -DSETUPTOOLS_DEB_LAYOUT=OFF
catkin_make install
catkin build -p 1 -i
rtabmap_conversions/package.xml
+1 -1
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@@ -2,7 +2,7 @@
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>rtabmap_conversions</name>
<version>0.21.0</version>
<version>0.21.1</version>
<description>RTAB-Map's conversions package. This package can be used to convert rtabmap_msgs's msgs into RTAB-Map's library objects.</description>
<maintainer email="matlabbe@gmail.com">Mathieu Labbe</maintainer>
<author>Mathieu Labbe</author>
rtabmap_demos/package.xml
+1 -1
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@@ -2,7 +2,7 @@
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>rtabmap_demos</name>
<version>0.21.0</version>
<version>0.21.1</version>
<description>RTAB-Map's demo launch files.</description>
<maintainer email="matlabbe@gmail.com">Mathieu Labbe</maintainer>
<author>Mathieu Labbe</author>
rtabmap_examples/package.xml
+3 -1
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@@ -2,7 +2,7 @@
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>rtabmap_examples</name>
<version>0.21.0</version>
<version>0.21.1</version>
<description>RTAB-Map's example launch files.</description>
<maintainer email="matlabbe@gmail.com">Mathieu Labbe</maintainer>
<author>Mathieu Labbe</author>
@@ -16,6 +16,8 @@
<exec_depend>rtabmap_slam</exec_depend>
<exec_depend>rtabmap_util</exec_depend>
<exec_depend>rtabmap_rviz_plugins</exec_depend>
<exec_depend>rtabmap_slam</exec_depend>
<exec_depend>rtabmap_util</exec_depend>
<exec_depend>rtabmap_viz</exec_depend>
<exec_depend>imu_filter_madgwick</exec_depend>
<exec_depend>tf2_ros</exec_depend>
rtabmap_launch/CMakeLists.txt
+1 -1
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@@ -7,4 +7,4 @@ install(DIRECTORY launch
DESTINATION share/${PROJECT_NAME}
)
ament_package()
ament_package()
rtabmap_launch/package.xml
+3 -1
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@@ -2,7 +2,7 @@
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>rtabmap_launch</name>
<version>0.21.0</version>
<version>0.21.1</version>
<description>RTAB-Map's main launch files.</description>
<maintainer email="matlabbe@gmail.com">Mathieu Labbe</maintainer>
<author>Mathieu Labbe</author>
@@ -17,6 +17,8 @@
<exec_depend>rtabmap_msgs</exec_depend>
<exec_depend>rtabmap_util</exec_depend>
<exec_depend>rtabmap_rviz_plugins</exec_depend>
<exec_depend>rtabmap_slam</exec_depend>
<exec_depend>rtabmap_util</exec_depend>
<exec_depend>rtabmap_viz</exec_depend>
<export>
rtabmap_msgs/package.xml
+1 -1
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@@ -2,7 +2,7 @@
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>rtabmap_msgs</name>
<version>0.21.0</version>
<version>0.21.1</version>
<description>RTAB-Map's msgs package.</description>
<maintainer email="matlabbe@gmail.com">Mathieu Labbe</maintainer>
<author>Mathieu Labbe</author>
rtabmap_odom/package.xml
+1 -1
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@@ -2,7 +2,7 @@
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>rtabmap_odom</name>
<version>0.21.0</version>
<version>0.21.1</version>
<description>RTAB-Map's odometry package.</description>
<maintainer email="matlabbe@gmail.com">Mathieu Labbe</maintainer>
<author>Mathieu Labbe</author>
rtabmap_odom/src/nodelets/icp_odometry.cpp
+20 -14
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@@ -49,7 +49,7 @@ namespace rtabmap_odom
ICPOdometry::ICPOdometry(const rclcpp::NodeOptions & options) :
OdometryROS("icp_odometry", options),
scanCloudMaxPoints_(0),
scanCloudMaxPoints_(-1),
scanCloudIs2d_(false),
scanDownsamplingStep_(1),
scanRangeMin_(0),
@@ -68,7 +68,6 @@ ICPOdometry::ICPOdometry(const rclcpp::NodeOptions & options) :
ICPOdometry::~ICPOdometry()
{
//plugins_.clear();
}
void ICPOdometry::onOdomInit()
@@ -624,19 +623,26 @@ void ICPOdometry::callbackCloud(const sensor_msgs::msg::PointCloud2::SharedPtr p
}
}
if(scanCloudMaxPoints_ == 0 && cloudMsg->height > 1)
if(cloudMsg->height > 1) // organized cloud
{
if(scanCloudMaxPoints_ == -1)
{
scanCloudMaxPoints_ = cloudMsg->height * cloudMsg->width;
RCLCPP_WARN(this->get_logger(), "IcpOdometry: \"scan_cloud_max_points\" is not set but input "
"cloud is not dense, for convenience it will be set to %d (%dx%d)",
scanCloudMaxPoints_, cloudMsg->width, cloudMsg->height);
}
else if(scanCloudMaxPoints_ > 0 && scanCloudMaxPoints_ < int(cloudMsg->height * cloudMsg->width))
{
RCLCPP_WARN(this->get_logger(), "IcpOdometry: \"scan_cloud_max_points\" is set to %d but input "
"cloud is not dense and has a size of %d (%dx%d), setting to this later size.",
scanCloudMaxPoints_, cloudMsg->width *cloudMsg->height, cloudMsg->width, cloudMsg->height);
scanCloudMaxPoints_ = cloudMsg->width *cloudMsg->height;
}
}
if(scanCloudMaxPoints_ == -1)
{
scanCloudMaxPoints_ = cloudMsg->height * cloudMsg->width;
RCLCPP_WARN(this->get_logger(), "IcpOdometry: \"scan_cloud_max_points\" is not set but input "
"cloud is not dense, for convenience it will be set to %d (%dx%d)",
scanCloudMaxPoints_, cloudMsg->width, cloudMsg->height);
}
else if(cloudMsg->height > 1 && scanCloudMaxPoints_ < int(cloudMsg->height * cloudMsg->width))
{
RCLCPP_WARN(this->get_logger(), "IcpOdometry: \"scan_cloud_max_points\" is set to %d but input "
"cloud is not dense and has a size of %d (%dx%d), setting to this later size.",
scanCloudMaxPoints_, cloudMsg->width *cloudMsg->height, cloudMsg->width, cloudMsg->height);
scanCloudMaxPoints_ = cloudMsg->width *cloudMsg->height;
scanCloudMaxPoints_ = 0;
}
int maxLaserScans = scanCloudMaxPoints_;
rtabmap_python/package.xml
+1 -1
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@@ -2,7 +2,7 @@
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>rtabmap_python</name>
<version>0.21.0</version>
<version>0.21.1</version>
<description>RTAB-Map's python package.</description>
<maintainer email="matlabbe@gmail.com">Mathieu Labbe</maintainer>
<author>Mathieu Labbe</author>
rtabmap_ros/CMakeLists.txt
+1 -1
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@@ -3,4 +3,4 @@ project(rtabmap_ros)
find_package(ament_cmake REQUIRED)
ament_package()
ament_package()
rtabmap_ros/package.xml
+1 -1
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@@ -2,7 +2,7 @@
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>rtabmap_ros</name>
<version>0.21.0</version>
<version>0.21.1</version>
<description>
RTAB-Map Stack
</description>
rtabmap_rviz_plugins/package.xml
+1 -1
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@@ -2,7 +2,7 @@
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>rtabmap_rviz_plugins</name>
<version>0.21.0</version>
<version>0.21.1</version>
<description>RTAB-Map's rviz plugins.</description>
<maintainer email="matlabbe@gmail.com">Mathieu Labbe</maintainer>
<author>Mathieu Labbe</author>
rtabmap_slam/package.xml
+1 -1
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@@ -2,7 +2,7 @@
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>rtabmap_slam</name>
<version>0.21.0</version>
<version>0.21.1</version>
<description>RTAB-Map's SLAM package.</description>
<maintainer email="matlabbe@gmail.com">Mathieu Labbe</maintainer>
<author>Mathieu Labbe</author>
rtabmap_sync/package.xml
+1 -1
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@@ -2,7 +2,7 @@
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>rtabmap_sync</name>
<version>0.21.0</version>
<version>0.21.1</version>
<description>RTAB-Map's synchronization package.</description>
<maintainer email="matlabbe@gmail.com">Mathieu Labbe</maintainer>
<author>Mathieu Labbe</author>
rtabmap_util/package.xml
+1 -1
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@@ -2,7 +2,7 @@
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>rtabmap_util</name>
<version>0.21.0</version>
<version>0.21.1</version>
<description>RTAB-Map's various useful nodes and nodelets.</description>
<maintainer email="matlabbe@gmail.com">Mathieu Labbe</maintainer>
<author>Mathieu Labbe</author>
rtabmap_viz/package.xml
+1 -1
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@@ -2,7 +2,7 @@
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>rtabmap_viz</name>
<version>0.21.0</version>
<version>0.21.1</version>
<description>RTAB-Map's visualization package.</description>
<maintainer email="matlabbe@gmail.com">Mathieu Labbe</maintainer>
<author>Mathieu Labbe</author>