diff --git a/.github/workflows/ros2.yml b/.github/workflows/ros2.yml index ab5c6105..234206ae 100644 --- a/.github/workflows/ros2.yml +++ b/.github/workflows/ros2.yml @@ -25,30 +25,36 @@ jobs: include: - ros_distro: humble skip_keys: '' - packages: 'rtabmap_ros rtabmap_conversions rtabmap_odom rtabmap_slam rtabmap_sync rtabmap_util rtabmap_python' + packages: 'rtabmap_ros rtabmap_conversions rtabmap_odom rtabmap_slam rtabmap_sync rtabmap_util rtabmap_python rtabmap_launch rtabmap_examples rtabmap_demos' - ros_distro: jazzy skip_keys: '' - packages: 'rtabmap_ros rtabmap_conversions rtabmap_odom rtabmap_slam rtabmap_sync rtabmap_util rtabmap_python' + packages: 'rtabmap_ros rtabmap_conversions rtabmap_odom rtabmap_slam rtabmap_sync rtabmap_util rtabmap_python rtabmap_launch rtabmap_examples rtabmap_demos' - ros_distro: kilted skip_keys: 'grid_map_ros' - packages: 'rtabmap_ros rtabmap_conversions rtabmap_odom rtabmap_slam rtabmap_sync rtabmap_util rtabmap_python' + packages: 'rtabmap_ros rtabmap_conversions rtabmap_odom rtabmap_slam rtabmap_sync rtabmap_util rtabmap_python rtabmap_launch rtabmap_examples rtabmap_demos' - ros_distro: lyrical - skip_keys: 'velodyne grid_map_ros libpointmatcher' - packages: 'rtabmap_ros rtabmap_conversions rtabmap_odom rtabmap_slam rtabmap_sync rtabmap_util rtabmap_python' + skip_keys: 'velodyne grid_map_ros libpointmatcher find_object_2d' + packages: 'rtabmap_ros rtabmap_conversions rtabmap_odom rtabmap_slam rtabmap_sync rtabmap_util rtabmap_python rtabmap_launch rtabmap_examples rtabmap_demos' - ros_distro: rolling # Rolling has moved to Ubuntu resolute and much of it has not been rebuilt for # that yet, so rosdep finds nothing to install for these. They are all optional - # to rtabmap, which just builds without them. - skip_keys: 'velodyne libpointmatcher gtsam grid_map_ros' + # to rtabmap, which just builds without them. nav2 is missing from resolute + # too: optional to rtabmap_slam (nav2_msgs) and to the demos (nav2_bringup, for + # the navigation demos only), but not to rtabmap_costmap_plugins, so it and the + # rtabmap_ros metapackage, which pulls it in, are not built. + skip_keys: 'velodyne libpointmatcher gtsam grid_map_ros nav2_msgs nav2_bringup nav2_costmap_2d find_object_2d' use_ros2_testing: true # Rolling is using ros2-testing (nightly) - # nav2 is missing from resolute too, and it is not optional: rtabmap_slam and - # rtabmap_costmap_plugins need it to compile at all, and the rtabmap_ros - # metapackage pulls both in. So rolling names the packages it can build. - packages: 'rtabmap_conversions rtabmap_odom rtabmap_sync rtabmap_util rtabmap_python' + packages: 'rtabmap_conversions rtabmap_odom rtabmap_slam rtabmap_sync rtabmap_util rtabmap_python rtabmap_launch rtabmap_examples rtabmap_demos' fail-fast: false + timeout-minutes: 180 container: image: osrf/ros:${{ matrix.ros_distro }}-desktop-full - steps: + env: + # Absolute and inside the container: ${{ github.workspace }} would be the + # runner's path, not the container's. + RTABMAP_DEMOS_TEST_DATA: /rtabmap_demos_test_data + RTABMAP_DEMOS_TEST_RESULTS: /rtabmap_demos_test_results + steps: - uses: actions/checkout@v4 - uses: ros-tooling/setup-ros@v0.7 with: @@ -61,9 +67,76 @@ jobs: - run: | echo "repositories:\n introlab/rtabmap:\n type: git\n url: https://github.com/introlab/rtabmap.git\n version: master\n" > /tmp/deps.repos &&\ cat /tmp/deps.repos + # Build only: the tests are run below, the quick ones first, so that a failing unit + # test shows before the demos' playback, which takes tens of minutes. - uses: ros-tooling/action-ros-ci@v0.4 with: package-name: ${{ matrix.packages }} target-ros2-distro: ${{ matrix.ros_distro }} vcs-repo-file-url: /tmp/deps.repos rosdep-skip-keys: "${{ matrix.skip_keys }}" + skip-tests: true + + - name: Unit tests + working-directory: ros_ws + shell: bash + run: | + source /opt/ros/${{ matrix.ros_distro }}/setup.bash + source install/setup.bash + colcon test --packages-select ${{ matrix.packages }} \ + --event-handlers console_cohesion+ --ctest-args -E test_demo_playback + colcon test-result --verbose + + # The demos' playback (rtabmap_demos/test/test_demo_playback.py) replays bags that + # are assets of the rtabmap_ros GitHub releases, listed with their SHA-256 in + # rtabmap_demos/test/data/manifest.txt. As rtabmap's own CI does with its test + # databases (cmake-ros.yml), they are cached between runs, keyed on that manifest + # only: every distro shares one entry, and a new or changed bag there fetches again. + - name: Restore test data + id: cache-testdata + uses: actions/cache@v4 + with: + path: /rtabmap_demos_test_data + key: rtabmap-demos-test-data-${{ hashFiles('rtabmap_demos/test/data/manifest.txt') }} + + - name: Fetch test data + if: steps.cache-testdata.outputs.cache-hit != 'true' + shell: bash + run: bash rtabmap_demos/test/fetch_test_data.sh + + # Without its bag, a scenario skips itself and the step would pass having replayed + # nothing: check that every bag of the manifest is there. + - name: Check test data + shell: bash + run: | + missing=0 + while IFS=$'\t' read -r name url sha extracted; do + [[ -z "${name// }" || "$name" =~ ^# ]] && continue + file="$RTABMAP_DEMOS_TEST_DATA/${extracted:-$name}" + if [[ ! -f "$file" ]]; then + echo "::error::$file is missing (from $url)" + missing=1 + fi + done < rtabmap_demos/test/data/manifest.txt + exit $missing + + # The golden graphs were made with humble: each scenario's tolerances + # (test_demo_playback.py) absorb small differences between distros. + - name: Demo playback tests + working-directory: ros_ws + shell: bash + run: | + source /opt/ros/${{ matrix.ros_distro }}/setup.bash + source install/setup.bash + colcon test --packages-select rtabmap_demos \ + --event-handlers console_cohesion+ --ctest-args -R test_demo_playback + colcon test-result --verbose --test-result-base build/rtabmap_demos + + # Each scenario's launch log, graph and database, to see what went wrong. + - name: Upload the playback results + if: failure() + uses: actions/upload-artifact@v4 + with: + name: demo-playback-results-${{ matrix.ros_distro }} + path: /rtabmap_demos_test_results + retention-days: 7 diff --git a/README.md b/README.md index c0812e0a..0d9cba67 100644 --- a/README.md +++ b/README.md @@ -125,7 +125,9 @@ export RCUTILS_COLORIZED_OUTPUT=1 ``` ## Recommended DDS -If RTAB-Map's GUI or topic frequency feel laggy (even if processing time looks fast enough), it may be caused by the DDS. I recommend to use [Cyclone DDS](https://docs.ros.org/en/jazzy/Installation/RMW-Implementations/DDS-Implementations/Working-with-Eclipse-CycloneDDS.html), you can try it by adding this before launching any nodes/launch files (or add to your `.bashrc`): +If RTAB-Map's GUI or topic frequency feel laggy (even if processing time looks fast enough), or messages seem to get lost, it may be caused by the DDS. By default (`qos` parameters set to `0`), RTAB-Map's nodes subscribe with the DDS's own default reliability, and that differs between them: Cyclone DDS subscribes reliably, while Fast DDS, the default DDS of ROS 2 (still with Lyrical), subscribes in best effort. In best effort, a large message (image, point cloud) arriving while a node is still busy with the previous one can be dropped, without any warning. + +With Fast DDS, you can make RTAB-Map's nodes subscribe reliably with their `qos` parameters set to `1` (e.g., `qos:=1` with `rtabmap.launch.py`). Otherwise, I recommend to use [Cyclone DDS](https://docs.ros.org/en/jazzy/Installation/RMW-Implementations/DDS-Implementations/Working-with-Eclipse-CycloneDDS.html), you can try it by adding this before launching any nodes/launch files (or add to your `.bashrc`): ```bash export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp # Cyclone prefers multicast by default, if your router got too much spammed, diff --git a/rtabmap_conversions/src/MsgConversion.cpp b/rtabmap_conversions/src/MsgConversion.cpp index 6da75420..03d608ec 100644 --- a/rtabmap_conversions/src/MsgConversion.cpp +++ b/rtabmap_conversions/src/MsgConversion.cpp @@ -28,6 +28,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. #include #include "rtabmap_conversions/MsgConversion.h" +#include #include #include @@ -2148,6 +2149,36 @@ bool convertRGBDMsgs( (cameraInfoMsgs.size() == depthMsgs.size() || depthMsgs.empty()) && (cameraInfoMsgs.size() == depthCameraInfoMsgs.size() || depthCameraInfoMsgs.empty())); + // An RGBDImage of a camera without depth (e.g., from rgb_sync) has an empty depth + // slot, which reaches here as empty depth images: convert the frame as color only, + // rather than as a stereo pair missing its right image. + if(!depthMsgs.empty() && + std::all_of(depthMsgs.begin(), depthMsgs.end(), + [](const cv_bridge::CvImageConstPtr & msg) { return msg.get() == 0 || msg->image.empty(); })) + { + return convertRGBDMsgs( + imageMsgs, + std::vector(), + cameraInfoMsgs, + std::vector(), + frameId, + odomFrameId, + odomStamp, + rgb, + depth, + cameraModels, + stereoCameraModels, + tfBuffer, + waitForTransform, + alreadRectifiedImages, + localKeyPointsMsgs, + localPoints3dMsgs, + localDescriptorsMsgs, + localKeyPoints, + localPoints3d, + localDescriptors); + } + int imageWidth = imageMsgs.size()?imageMsgs[0]->image.cols:cameraInfoMsgs[0].width; int imageHeight = imageMsgs.size()?imageMsgs[0]->image.rows:cameraInfoMsgs[0].height; int depthWidth = depthMsgs.size()?depthMsgs[0]->image.cols:0; diff --git a/rtabmap_conversions/test/test_msg_conversion.cpp b/rtabmap_conversions/test/test_msg_conversion.cpp index 8cc12760..098a3d87 100644 --- a/rtabmap_conversions/test/test_msg_conversion.cpp +++ b/rtabmap_conversions/test/test_msg_conversion.cpp @@ -3048,6 +3048,43 @@ TEST(MsgConversion, convertRGBDMsgsSingleCamera) EXPECT_EQ(depth.at(0, 0), 1500); } +// A camera without depth, through an RGBDImage as rgb_sync publishes it: the depth slot +// is left empty, and toCvShare() turns it into an empty depth image. The frame must +// come out as color only, not be rejected as a stereo pair without a right image. +TEST(MsgConversion, convertRGBDMsgsColorOnlyRGBDImage) +{ + const std::shared_ptr buffer = makeTfBuffer(); + const rtabmap::Transform baseToCamera(0.1f, 0.0f, 0.2f, 0.0f, 0.0f, 0.0f); + addTf(*buffer, "base_link", "camera_link", baseToCamera, 1000.0); + + const cv::Mat rgbImage(8, 8, CV_8UC3, cv::Scalar(10, 20, 30)); + rtabmap_msgs::msg::RGBDImage rgbdImage; + rgbdImage.header = makeImage("camera_link", 1000.0, rgbImage, "bgr8")->header; + makeImage("camera_link", 1000.0, rgbImage, "bgr8")->toImageMsg(rgbdImage.rgb); + rgbdImage.rgb_camera_info = makeCameraInfo("camera_link", 1000.0, 8, 8); + + cv_bridge::CvImageConstPtr image, depthImage; + toCvShare(rgbdImage, std::shared_ptr(), image, depthImage); + ASSERT_TRUE(depthImage.get() != 0); + ASSERT_TRUE(depthImage->image.empty()) << "an RGBDImage without depth gives an empty depth image"; + + cv::Mat rgb, depth; + std::vector models; + std::vector stereoModels; + ASSERT_TRUE(convertRGBDMsgs({image}, {depthImage}, {rgbdImage.rgb_camera_info}, + {rgbdImage.depth_camera_info}, "base_link", "", + timestampToROS(1000.0), rgb, depth, models, stereoModels, + *buffer, 0.0, /*alreadyRectifiedImages=*/true)); + + EXPECT_TRUE(stereoModels.empty()); + ASSERT_EQ(models.size(), 1u); + EXPECT_NEAR(models[0].fx(), 100.0, 1e-9); + expectTransformNear(models[0].localTransform(), baseToCamera, 1e-4f); + ASSERT_EQ(rgb.cols, 8); + ASSERT_EQ(rgb.rows, 8); + EXPECT_TRUE(depth.empty()); +} + TEST(MsgConversion, convertRGBDMsgsMultiCameraSideBySide) { // Two cameras are concatenated horizontally into one wide image, one model each. diff --git a/rtabmap_demos/CMakeLists.txt b/rtabmap_demos/CMakeLists.txt index 4c662b4c..e28cb3a1 100644 --- a/rtabmap_demos/CMakeLists.txt +++ b/rtabmap_demos/CMakeLists.txt @@ -6,5 +6,27 @@ find_package(ament_cmake REQUIRED) install(DIRECTORY launch config params data DESTINATION share/${PROJECT_NAME} ) +# find_object_2d's detections as landmarks, for find_object_demo.launch.py. +install(PROGRAMS scripts/find_object_to_landmarks.py + DESTINATION lib/${PROJECT_NAME} +) + +if(BUILD_TESTING) + find_package(ament_cmake_pytest REQUIRED) + # rtabmap_launch's launch file test, on this package's installed launch files: each + # dry-run with each of its switches; nothing is started, so it needs no DDS domain of its + # own. Run from where rtabmap_launch installed it: no pytest cache written there. + find_package(rtabmap_launch REQUIRED) + ament_add_pytest_test(test_launch_files ${rtabmap_launch_DIR}/../test/test_launch_files.py + ENV RTABMAP_LAUNCH_TEST_PACKAGE=${PROJECT_NAME} "PYTEST_ADDOPTS=-p no:cacheprovider" + TIMEOUT 900) + # Replays the demo bags through the demo launch files and compares the graphs with + # test/golden. Skipped unless the bags were fetched (test/fetch_test_data.sh). The + # demos' nodes talk over DDS, so it gets a domain of its own; see rtabmap_slam's for + # the other packages' ranges. + ament_add_pytest_test(test_demo_playback test/test_demo_playback.py + ENV ROS_DOMAIN_ID=110 + TIMEOUT 7200) +endif() ament_package() diff --git a/rtabmap_demos/README.md b/rtabmap_demos/README.md index dfedb2a8..300f7630 100644 --- a/rtabmap_demos/README.md +++ b/rtabmap_demos/README.md @@ -1,4 +1,7 @@ # rtabmap_demos + +Ready-to-run demos of RTAB-Map. Each launch file sets up a complete pipeline for one of the demo bags or one simulated robot, so you can watch RTAB-Map map, close loops and navigate without any hardware. The bags can be downloaded from the [0.23.13 release](https://github.com/introlab/rtabmap_ros/releases/tag/0.23.13). + + [Outdoor Stereo VSLAM](#outdoor-stereo-vslam) + [Indoor 2D LiDAR and RGB-D SLAM](#indoor-2d-lidar-and-rgb-d-slam) + [Multi-Session Indoor 2D LiDAR and RGB-D SLAM](#multi-session-indoor-2d-lidar-and-rgb-d-slam) @@ -36,6 +39,11 @@ ![Peek 2024-11-29 12-01](https://github.com/user-attachments/assets/b3cc0c67-517a-4f69-b4cc-35d288e96165) +### Netherdrone 3D LiDAR SLAM +[netherdrone_lidar3d_demo.launch.py](https://github.com/introlab/rtabmap_ros/blob/ros2/rtabmap_demos/launch/netherdrone_lidar3d_demo.launch.py) + +![Peek 2026-10-10 12-12](https://github.com/user-attachments/assets/a79f0519-6c39-48a4-8c14-799c0775571e) + ### Turtlebot4 Nav2, 2D LiDAR and RGB-D SLAM [turtlebot4_sim_demo.launch.py](https://github.com/introlab/rtabmap_ros/blob/ros2/rtabmap_demos/launch/turtlebot4/turtlebot4_sim_demo.launch.py) @@ -90,3 +98,16 @@ FusionCore (wheel + IMU UKF) and `icp_odometry` run in a feedback loop: FusionCo [isaac_sim_vslam_demo.launch.py](https://github.com/introlab/rtabmap_ros/blob/ros2/rtabmap_demos/launch/isaac/isaac_sim_vslam_demo.launch.py) stereo:=false vo:=rtabmap ![Peek 2024-11-30 13-22](https://github.com/user-attachments/assets/240820c6-4dea-4cbf-9431-b4b3af695d51) + +## Tests + +`colcon test --packages-select rtabmap_demos` runs two tests: + +* `test_launch_files` loads every launch file of this package, with its default arguments and with each of its switches flipped, without starting anything. It checks that the files, executables, components and included launch files exist, that the arguments passed to our own launch files are declared, and that RTAB-Map's parameters exist in the installed library. Packages that are not installed (simulators, robots) are stubbed and named in a warning. +* `test_demo_playback` replays demo bags through the demo launch files and compares the resulting graphs with the golden ones in `test/golden` (number of nodes and of loop closures, and the trajectory error rtabmap computes against the golden trajectory, replayed as ground truth). It is skipped unless the bags were downloaded first (a few GB): + +```bash +rtabmap_demos/test/fetch_test_data.sh # or set RTABMAP_DEMOS_TEST_DATA to download elsewhere +``` + +The bags are replayed in lockstep with the demo's nodes: each sensor message is published only once every node is idle, so results do not depend on how loaded the machine is. A replay takes a few minutes per bag. To keep a run's graph, database and log, set `RTABMAP_DEMOS_TEST_RESULTS` to a directory. After a change that is expected to change the results, regenerate the golden graphs with `RTABMAP_DEMOS_UPDATE_GOLDEN=1` and commit them. diff --git a/rtabmap_demos/config/demo_lidar3d.rviz b/rtabmap_demos/config/demo_lidar3d.rviz new file mode 100644 index 00000000..890ab9d7 --- /dev/null +++ b/rtabmap_demos/config/demo_lidar3d.rviz @@ -0,0 +1,267 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 0 + Name: Displays + Property Tree Widget: + Expanded: + - /Image1/Topic1 + Splitter Ratio: 0.5 + Tree Height: 390 + - Class: rviz_common/Views + Expanded: + - /Current View1 + - /Current View1/Wall clipping1 + Name: Views + Splitter Ratio: 0.5 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz_default_plugins/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Class: rviz_default_plugins/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: true + arducam: + Value: true + base_link: + Value: true + base_link_stabilized: + Value: true + box_link: + Value: true + camera_link: + Value: true + dynamixel_base: + Value: true + dynamixel_shaft: + Value: true + icp_odom: + Value: true + imu_link: + Value: true + map: + Value: true + os_imu: + Value: true + os_lidar: + Value: true + os_sensor: + Value: true + os_sensor_base: + Value: true + rotor_0: + Value: true + rotor_1: + Value: true + rotor_2: + Value: true + rotor_3: + Value: true + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: false + Tree: + map: + icp_odom: + base_link_stabilized: + base_link: + box_link: + camera_link: + arducam: + {} + dynamixel_base: + dynamixel_shaft: + os_sensor_base: + os_sensor: + os_imu: + {} + os_lidar: + {} + imu_link: + {} + rotor_0: + {} + rotor_1: + {} + rotor_2: + {} + rotor_3: + {} + Update Interval: 0 + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: false + Autocompute Value Bounds: + Max Value: 63.8961181640625 + Min Value: -59.4283332824707 + Value: true + Axis: Z + Channel Name: intensity + Class: rtabmap_rviz_plugins/MapCloud + Cloud decimation: 4 + Cloud from scan: true + Cloud max depth (m): 0 + Cloud min depth (m): 0 + Cloud voxel size (m): 0 + Color: 255; 255; 255 + Color Transformer: Intensity + Download graph: false + Download map: false + Download namespace: rtabmap + Enabled: false + Filter ceiling (m): 0 + Filter floor (m): 0 + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 750 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: MapCloud + Node filtering angle (degrees): 30 + Node filtering radius (m): 0 + Position Transformer: XYZ + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Points + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /mapData + Use Fixed Frame: true + Use rainbow: true + Value: false + - Alpha: 1 + Class: rtabmap_rviz_plugins/MapGraph + Enabled: true + Global loop closure: 255; 0; 0 + Landmark: 0; 128; 0 + Local loop closure: 255; 255; 0 + Merged neighbor: 255; 170; 0 + Name: MapGraph + Neighbor: 0; 0; 255 + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /mapGraph + User: 255; 0; 0 + Value: true + Virtual: 255; 0; 255 + - Class: octomap_rviz_plugins/ColorOccupancyGrid + Enabled: true + Max. Height Display: 3.4028234663852886e+38 + Max. Octree Depth: 14 + Min. Height Display: -3.4028234663852886e+38 + Name: ColorOccupancyGrid + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /octomap_binary + Value: true + Voxel Alpha: 1 + Voxel Coloring: Z-Axis + Voxel Rendering: Occupied Voxels + - Class: rviz_default_plugins/Image + Enabled: true + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /camera/image_raw/compressed + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: map + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/Interact + Hide Inactive Objects: true + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - Class: rviz_default_plugins/Measure + Line color: 128; 128; 0 + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Class: rtabmap_rviz_plugins/OrbitOriented + Distance: 2.5 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Field of View: 1.2000000476837158 + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: false + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.3403986096382141 + Target Frame: base_link + Value: OrbitOriented (rtabmap_rviz_plugins) + Wall clipping: + Ignore Distance: 1 + Octomap Topic: /octomap_binary + Octree Depth: 14 + Value: true + Wall Margin: 0.05000000074505806 + Yaw: 3.100417137145996 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 876 + Hide Left Dock: false + Hide Right Dock: false + Image: + collapsed: false + QMainWindow State: 000000ff00000000fd00000001000000000000015600000312fc0200000003fb000000100044006900730070006c006100790073010000003d000001c3000000c900fffffffb0000000a00560069006500770073000000016200000116000000a400fffffffb0000000a0049006d0061006700650100000206000001490000002800ffffff000002990000031200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Views: + collapsed: false + Width: 1013 + X: 69 + Y: 48 diff --git a/rtabmap_demos/config/demo_lidar3d_gui.ini b/rtabmap_demos/config/demo_lidar3d_gui.ini new file mode 100644 index 00000000..e74c4f6b --- /dev/null +++ b/rtabmap_demos/config/demo_lidar3d_gui.ini @@ -0,0 +1,454 @@ +[Gui] +AboutDialog\geometry=@ByteArray(\x1\xd9\xd0\xcb\0\x3\0\0\0\0\0\0\0\0\0/\0\0\x2\xf7\0\0\x3\x10\0\0\0\0\0\0\0/\0\0\x2\xf7\0\0\x3\x10\0\0\0\0\0\0\0\0\a\x80\0\0\0\0\0\0\0/\0\0\x2\xf7\0\0\x3\x10) +DepthCalibrationDialog\bin_depth=2 +DepthCalibrationDialog\bin_height=6 +DepthCalibrationDialog\bin_width=8 +DepthCalibrationDialog\cone_radius=0.02 +DepthCalibrationDialog\cone_stddev_thresh=0.1 +DepthCalibrationDialog\decimation=1 +DepthCalibrationDialog\laser_scan=false +DepthCalibrationDialog\max_depth=3.5 +DepthCalibrationDialog\max_model_depth=10 +DepthCalibrationDialog\min_depth=0 +DepthCalibrationDialog\smoothing=1 +DepthCalibrationDialog\voxel=0.01 +ExportBundlerDialog\exportPoints=false +ExportBundlerDialog\laplacianThr=0 +ExportBundlerDialog\maxAngularSpeed=0 +ExportBundlerDialog\maxLinearSpeed=0 +ExportBundlerDialog\sba_iterations=20 +ExportBundlerDialog\sba_rematch_features=true +ExportBundlerDialog\sba_type=1 +ExportBundlerDialog\sba_variance=1 +ExportCloudsDialog\assemble=true +ExportCloudsDialog\assemble_samples=0 +ExportCloudsDialog\assemble_voxel=0.01 +ExportCloudsDialog\bilateral=false +ExportCloudsDialog\bilateral_sigma_r=0.1 +ExportCloudsDialog\bilateral_sigma_s=10 +ExportCloudsDialog\binary=true +ExportCloudsDialog\cam_proj=false +ExportCloudsDialog\cam_proj_decimation=1 +ExportCloudsDialog\cam_proj_distance_policy=true +ExportCloudsDialog\cam_proj_export_format=0 +ExportCloudsDialog\cam_proj_keep_points=false +ExportCloudsDialog\cam_proj_mask= +ExportCloudsDialog\cam_proj_max_angle=0 +ExportCloudsDialog\cam_proj_max_depth_error=0 +ExportCloudsDialog\cam_proj_max_distance=0 +ExportCloudsDialog\cam_proj_recolor_points=true +ExportCloudsDialog\cam_proj_roi_ratios=0.0 0.0 0.0 0.0 +ExportCloudsDialog\cputsdf_flattenRadius=0.005 +ExportCloudsDialog\cputsdf_minWeight=0 +ExportCloudsDialog\cputsdf_randomSplit=1 +ExportCloudsDialog\cputsdf_resolution=0.01 +ExportCloudsDialog\cputsdf_size=12 +ExportCloudsDialog\cputsdf_truncNeg=0.03 +ExportCloudsDialog\cputsdf_truncPos=0.03 +ExportCloudsDialog\filtering=false +ExportCloudsDialog\filtering_min_neighbors=5 +ExportCloudsDialog\filtering_radius=0 +ExportCloudsDialog\frame=0 +ExportCloudsDialog\from_depth=true +ExportCloudsDialog\gain=false +ExportCloudsDialog\gain_beta=10 +ExportCloudsDialog\gain_full=false +ExportCloudsDialog\gain_overlap=0 +ExportCloudsDialog\gain_radius=0.02 +ExportCloudsDialog\gain_rgb=true +ExportCloudsDialog\intensity_colormap=0 +ExportCloudsDialog\mesh=false +ExportCloudsDialog\mesh_angle_tolerance=15 +ExportCloudsDialog\mesh_clean=true +ExportCloudsDialog\mesh_color_radius=0.05 +ExportCloudsDialog\mesh_decimation_factor=0 +ExportCloudsDialog\mesh_dense_strategy=1 +ExportCloudsDialog\mesh_max_polygons=0 +ExportCloudsDialog\mesh_min_cluster_size=0 +ExportCloudsDialog\mesh_mu=2.5 +ExportCloudsDialog\mesh_quad=false +ExportCloudsDialog\mesh_radius=0.2 +ExportCloudsDialog\mesh_texture=false +ExportCloudsDialog\mesh_textureBlending=true +ExportCloudsDialog\mesh_textureBlendingDecimation=0 +ExportCloudsDialog\mesh_textureBrightnessConstrastRatioHigh=5 +ExportCloudsDialog\mesh_textureBrightnessConstrastRatioLow=0 +ExportCloudsDialog\mesh_textureCameraFiltering=false +ExportCloudsDialog\mesh_textureCameraFilteringAngle=30 +ExportCloudsDialog\mesh_textureCameraFilteringLaplacian=0 +ExportCloudsDialog\mesh_textureCameraFilteringRadius=0 +ExportCloudsDialog\mesh_textureCameraFilteringVel=0 +ExportCloudsDialog\mesh_textureCameraFilteringVelRad=0 +ExportCloudsDialog\mesh_textureDistanceToCamPolicy=false +ExportCloudsDialog\mesh_textureExposureFusion=false +ExportCloudsDialog\mesh_textureFormat=0 +ExportCloudsDialog\mesh_textureMaxAngle=0 +ExportCloudsDialog\mesh_textureMaxCount=1 +ExportCloudsDialog\mesh_textureMaxDepthError=0 +ExportCloudsDialog\mesh_textureMaxDistance=3 +ExportCloudsDialog\mesh_textureMinCluster=50 +ExportCloudsDialog\mesh_textureMultiband=false +ExportCloudsDialog\mesh_textureMultibandAngleHardThr=90 +ExportCloudsDialog\mesh_textureMultibandBestScoreThr=0.1 +ExportCloudsDialog\mesh_textureMultibandDownScale=2 +ExportCloudsDialog\mesh_textureMultibandFillHoles=false +ExportCloudsDialog\mesh_textureMultibandForceVisible=false +ExportCloudsDialog\mesh_textureMultibandNbContrib=1 5 10 0 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+graphicsView_graphView\intra_inter_session_colors_enabled=false +graphicsView_graphView\intra_session_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\0\0\0\0\0\0) +graphicsView_graphView\link_width=0 +graphicsView_graphView\local_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\xff\xff\0\0\0\0) +graphicsView_graphView\local_path_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\xff\xff\xff\xff\0\0) +graphicsView_graphView\local_path_visible=true +graphicsView_graphView\local_radius_visible=false +graphicsView_graphView\loop_closure_outlier_thr=@Variant(\0\0\0\x87\0\0\0\0) +graphicsView_graphView\min_link_length=@Variant(\0\0\0\x87<\xa3\xd7\n) +graphicsView_graphView\neighbor_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\xff\xff\0\0) +graphicsView_graphView\neighbor_merged_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\xaa\xaa\0\0\0\0) +graphicsView_graphView\node_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\xff\xff\0\0) +graphicsView_graphView\node_odom_cache_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\x80\x80\0\0\0\0) +graphicsView_graphView\node_radius=0.009999999776482582 +graphicsView_graphView\node_visible=true +graphicsView_graphView\odom_cache_overlay=true +graphicsView_graphView\orientation_ENU=false +graphicsView_graphView\origin_visible=true +graphicsView_graphView\referential_visible=true +graphicsView_graphView\rejected_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\0\0\0\0) +graphicsView_graphView\user_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\0\0\0\0\0\0) +graphicsView_graphView\view_plane=0 +graphicsView_graphView\virtual_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\0\0\xff\xff\0\0) +imageView_loopClosure\alpha=100 +imageView_loopClosure\bg_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\0\0\0\0) +imageView_loopClosure\colormap=2 +imageView_loopClosure\colormap_camera_frame=true +imageView_loopClosure\colormap_max_range=@Variant(\0\0\0\x87\0\0\0\0) +imageView_loopClosure\colormap_min_range=@Variant(\0\0\0\x87\0\0\0\0) +imageView_loopClosure\confidence_shown=false +imageView_loopClosure\depth_shown=false +imageView_loopClosure\feature_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\xff\xff\0\0\0\0) +imageView_loopClosure\features_shown=true +imageView_loopClosure\features_size=0 +imageView_loopClosure\graphics_view=false +imageView_loopClosure\graphics_view_scale=true +imageView_loopClosure\graphics_view_scale_to_height=false +imageView_loopClosure\image_shown=true +imageView_loopClosure\lines_shown=true +imageView_loopClosure\lines_width=0 +imageView_loopClosure\matching_feature_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\0\0\xff\xff\0\0) +imageView_loopClosure\matching_line_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\xff\xff\xff\xff\0\0) +imageView_odometry\alpha=200 +imageView_odometry\bg_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\0\0\0\0) +imageView_odometry\colormap=2 +imageView_odometry\colormap_camera_frame=true +imageView_odometry\colormap_max_range=@Variant(\0\0\0\x87\0\0\0\0) +imageView_odometry\colormap_min_range=@Variant(\0\0\0\x87\0\0\0\0) +imageView_odometry\confidence_shown=false +imageView_odometry\depth_shown=false +imageView_odometry\feature_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\xff\xff\0\0\0\0) +imageView_odometry\features_shown=true +imageView_odometry\features_size=0 +imageView_odometry\graphics_view=false +imageView_odometry\graphics_view_scale=true +imageView_odometry\graphics_view_scale_to_height=false +imageView_odometry\image_shown=true +imageView_odometry\lines_shown=true +imageView_odometry\lines_width=0 +imageView_odometry\matching_feature_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\0\0\xff\xff\0\0) +imageView_odometry\matching_line_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\xff\xff\xff\xff\0\0) +imageView_source\alpha=100 +imageView_source\bg_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\0\0\0\0) +imageView_source\colormap=2 +imageView_source\colormap_camera_frame=true +imageView_source\colormap_max_range=@Variant(\0\0\0\x87\0\0\0\0) +imageView_source\colormap_min_range=@Variant(\0\0\0\x87\0\0\0\0) +imageView_source\confidence_shown=false +imageView_source\depth_shown=false +imageView_source\feature_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\xff\xff\0\0\0\0) +imageView_source\features_shown=true +imageView_source\features_size=0 +imageView_source\graphics_view=false +imageView_source\graphics_view_scale=true +imageView_source\graphics_view_scale_to_height=false +imageView_source\image_shown=true +imageView_source\lines_shown=true +imageView_source\lines_width=0 +imageView_source\matching_feature_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\0\0\xff\xff\0\0) +imageView_source\matching_line_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\xff\xff\xff\xff\0\0) +multisession_imageview\alpha=100 +multisession_imageview\bg_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\0\0\0\0) +multisession_imageview\colormap=2 +multisession_imageview\colormap_camera_frame=true +multisession_imageview\colormap_max_range=@Variant(\0\0\0\x87\0\0\0\0) +multisession_imageview\colormap_min_range=@Variant(\0\0\0\x87\0\0\0\0) +multisession_imageview\confidence_shown=false +multisession_imageview\depth_shown=false +multisession_imageview\feature_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\xff\xff\0\0\0\0) +multisession_imageview\features_shown=true +multisession_imageview\features_size=0 +multisession_imageview\graphics_view=false +multisession_imageview\graphics_view_scale=true +multisession_imageview\graphics_view_scale_to_height=false +multisession_imageview\image_shown=true +multisession_imageview\lines_shown=true +multisession_imageview\lines_width=0 +multisession_imageview\matching_feature_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\0\0\xff\xff\0\0) +multisession_imageview\matching_line_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\xff\xff\xff\xff\0\0) +widget_cloudViewer\bg_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\0\0\0\0) +widget_cloudViewer\camera_axis_shown=true +widget_cloudViewer\camera_focal=@Variant(\0\0\0T6\0\0\0\x35\xc0\0\0\0\0\0\0) +widget_cloudViewer\camera_free=false +widget_cloudViewer\camera_lockZ=true +widget_cloudViewer\camera_pose=@Variant(\0\0\0T\xbf\xa5\x91p\xa0{X) +widget_cloudViewer\camera_target_follow=true +widget_cloudViewer\camera_target_locked=false +widget_cloudViewer\camera_up=@Variant(\0\0\0T\0\0\0\0\0\0\0\0?\x80\0\0) +widget_cloudViewer\color_range_inverted=0 +widget_cloudViewer\color_range_max=0 +widget_cloudViewer\color_range_min=0 +widget_cloudViewer\coordinate_frame_scale=1 +widget_cloudViewer\frustum_color=@Variant(\0\0\0\x43\x1\xff\xff\xa0\xa0\xa0\xa0\xa4\xa4\0\0) +widget_cloudViewer\frustum_scale=@Variant(\0\0\0\x87?\0\0\0) +widget_cloudViewer\frustum_shown=false +widget_cloudViewer\grid=false +widget_cloudViewer\grid_cell_count=50 +widget_cloudViewer\grid_cell_size=1 +widget_cloudViewer\intensity_max=100 +widget_cloudViewer\intensity_rainbow_colormap=false +widget_cloudViewer\intensity_red_colormap=true +widget_cloudViewer\normals=false +widget_cloudViewer\normals_scale=0.20000000298023224 +widget_cloudViewer\normals_step=1 +widget_cloudViewer\rendering_rate=5 +widget_cloudViewer\trajectory_shown=true +widget_cloudViewer\trajectory_size=100 diff --git a/rtabmap_demos/config/find_object.ini b/rtabmap_demos/config/find_object.ini index 515dbdf9..5608a456 100644 --- a/rtabmap_demos/config/find_object.ini +++ b/rtabmap_demos/config/find_object.ini @@ -6,7 +6,7 @@ windowState=@ByteArray(\0\0\0\xff\0\0\0\0\xfd\0\0\0\x3\0\0\0\0\0\0\0\xda\0\0\x2' 1deviceId=0 2imageWidth=640 3imageHeight=480 -4imageRate=0 +4imageRate=30 5mediaPath= 6useTcpCamera=false 7IP=127.0.0.1 diff --git a/rtabmap_demos/launch/find_object_demo.launch.py b/rtabmap_demos/launch/find_object_demo.launch.py index 54a63a78..fce0b0a9 100644 --- a/rtabmap_demos/launch/find_object_demo.launch.py +++ b/rtabmap_demos/launch/find_object_demo.launch.py @@ -1,7 +1,7 @@ # Requirements: # find_object_2d package installed # Download rosbag: -# * demo_find_object.db3: https://drive.google.com/file/d/1web54yQkxeGFr2UwOjKeoajGGDm0fZXT/view?usp=drive_link +# * demo_find_object_bag.zip: https://github.com/introlab/rtabmap_ros/releases/download/0.23.13/demo_find_object_bag.zip # # Example: # @@ -9,7 +9,7 @@ # $ ros2 launch rtabmap_demos find_object_demo.launch.py # # Rosbag: -# $ ros2 bag play demo_find_object.db3 --clock +# $ ros2 bag play demo_find_object_bag --clock # from launch import LaunchDescription @@ -38,6 +38,15 @@ def generate_launch_description(): 'RGBD/NeighborLinkRefining': 'true', # Do odometry correction with consecutive laser scans 'Reg/Strategy': '1', # 0=Visual, 1=ICP, 2=Visual+ICP 'Reg/Force3DoF': 'true', # 2D SLAM + # The objects find_object_2d detects become landmarks (see find_object_to_landmarks.py, + # which sets their covariance from these, as rtabmap does for its own markers). + # Range and bearing only (GTSAM): the objects' orientation is the least reliable + # part of find_object_2d's estimate. Linear: the range variance (m^2), angular: + # the bearing variance (rad^2). + 'Marker/VarianceLinear': '0.001', + 'Marker/VarianceAngular': '0.01', + 'Marker/VarianceOrientationIgnored': 'true', + 'Optimizer/Strategy': '2', # GTSAM } remappings=[ @@ -63,6 +72,7 @@ def generate_launch_description(): # Launch arguments DeclareLaunchArgument('rtabmap_viz', default_value='false', description='Launch RTAB-Map UI (optional).'), DeclareLaunchArgument('rviz', default_value='true', description='Launch RVIZ (optional).'), + DeclareLaunchArgument('find_object_gui', default_value='true', description='Show the Find-Object window (false: headless).'), DeclareLaunchArgument('localization', default_value='false', description='Launch in localization mode.'), DeclareLaunchArgument('rviz_cfg', default_value=config_rviz, description='Configuration path of rviz2.'), @@ -73,12 +83,16 @@ def generate_launch_description(): # Uncompress images for find_object Node( package='image_transport', executable='republish', name='republish_rgb', output='screen', + # The transports: as arguments up to humble, as parameters from jazzy. arguments=['compressed', 'raw'], + parameters=[{'in_transport': 'compressed', 'out_transport': 'raw'}], remappings=[('in/compressed', '/camera/data_throttled_image/compressed'), ('out', '/camera/data_throttled_image')]), Node( package='image_transport', executable='republish', name='republish_depth', output='screen', + # The transports: as arguments up to humble, as parameters from jazzy. arguments=['compressedDepth', 'raw'], + parameters=[{'in_transport': 'compressedDepth', 'out_transport': 'raw'}], remappings=[('in/compressedDepth', '/camera/data_throttled_image_depth/compressedDepth'), ('out', '/camera/data_throttled_image_depth')]), @@ -119,11 +133,15 @@ def generate_launch_description(): # Find-Object Node( package='find_object_2d', executable='find_object_2d', output='screen', - parameters=[{'gui': True, + parameters=[{'gui': LaunchConfiguration('find_object_gui'), 'subscribe_depth': True, 'settings_path': config_find_object, 'objects_path': data_find_object}], remappings=[('rgb/image_rect_color', '/camera/data_throttled_image'), ('depth_registered/image_raw', '/camera/data_throttled_image_depth'), ('depth_registered/camera_info', '/camera/data_throttled_camera_info')]), + # Its detections as landmarks for rtabmap (landmark_detections) + Node( + package='rtabmap_demos', executable='find_object_to_landmarks.py', output='screen', + parameters=[parameters]), ]) \ No newline at end of file diff --git a/rtabmap_demos/launch/husky/husky_slam2d.launch.py b/rtabmap_demos/launch/husky/husky_slam2d.launch.py index 667e31ed..037ebb59 100644 --- a/rtabmap_demos/launch/husky/husky_slam2d.launch.py +++ b/rtabmap_demos/launch/husky/husky_slam2d.launch.py @@ -87,6 +87,10 @@ def generate_launch_description(): 'robot_ns', default_value='a200_0000', description='Robot namespace.'), + DeclareLaunchArgument( + 'rtabmap_viz', default_value='true', choices=['true', 'false'], + description='Start rtabmap_viz.'), + # Nodes to launch Node( package='rtabmap_sync', executable='rgbd_sync', output='screen', @@ -121,6 +125,7 @@ def generate_launch_description(): remappings=remappings), Node( + condition=IfCondition(LaunchConfiguration('rtabmap_viz')), package='rtabmap_viz', executable='rtabmap_viz', output='screen', namespace=robot_ns, parameters=[rtabmap_parameters, shared_parameters, diff --git a/rtabmap_demos/launch/husky/husky_slam3d.launch.py b/rtabmap_demos/launch/husky/husky_slam3d.launch.py index 513f39e0..b2ddace1 100644 --- a/rtabmap_demos/launch/husky/husky_slam3d.launch.py +++ b/rtabmap_demos/launch/husky/husky_slam3d.launch.py @@ -100,6 +100,10 @@ def generate_launch_description(): 'robot_ns', default_value='a200_0000', description='Robot namespace.'), + DeclareLaunchArgument( + 'rtabmap_viz', default_value='true', choices=['true', 'false'], + description='Start rtabmap_viz.'), + DeclareLaunchArgument( 'use_camera', default_value='true', description='Use camera for global loop closure / re-localization.'), @@ -139,6 +143,7 @@ def generate_launch_description(): remappings=remappings), Node( + condition=IfCondition(LaunchConfiguration('rtabmap_viz')), package='rtabmap_viz', executable='rtabmap_viz', output='screen', namespace=robot_ns, parameters=[rtabmap_parameters, shared_parameters, diff --git a/rtabmap_demos/launch/husky/husky_slam3d_assemble.launch.py b/rtabmap_demos/launch/husky/husky_slam3d_assemble.launch.py index 0c412ebf..2d33844c 100644 --- a/rtabmap_demos/launch/husky/husky_slam3d_assemble.launch.py +++ b/rtabmap_demos/launch/husky/husky_slam3d_assemble.launch.py @@ -25,6 +25,7 @@ from launch import LaunchDescription from launch.actions import DeclareLaunchArgument from launch.substitutions import LaunchConfiguration +from launch.conditions import IfCondition from launch_ros.actions import Node @@ -97,6 +98,10 @@ def generate_launch_description(): 'robot_ns', default_value='a200_0000', description='Robot namespace.'), + DeclareLaunchArgument( + 'rtabmap_viz', default_value='true', choices=['true', 'false'], + description='Start rtabmap_viz.'), + # Nodes to launch Node( package='rtabmap_sync', executable='rgbd_sync', output='screen', @@ -127,6 +132,7 @@ def generate_launch_description(): arguments=['-d']), Node( + condition=IfCondition(LaunchConfiguration('rtabmap_viz')), package='rtabmap_viz', executable='rtabmap_viz', output='screen', namespace=robot_ns, parameters=[rtabmap_parameters, shared_parameters, diff --git a/rtabmap_demos/launch/multisession_mapping_demo.launch.py b/rtabmap_demos/launch/multisession_mapping_demo.launch.py index 77211c39..64c9e91a 100644 --- a/rtabmap_demos/launch/multisession_mapping_demo.launch.py +++ b/rtabmap_demos/launch/multisession_mapping_demo.launch.py @@ -1,10 +1,10 @@ # Requirements: # Download one or more rosbags: -# * map1.db3: https://drive.google.com/file/d/1XajzWm0u1Tk7m7x63ybcKVMXj80r5P6r/view?usp=drive_link -# * map2.db3: https://drive.google.com/file/d/1_FxEalE2O-DQKq2tRpLIpDn5Mbvu0jZc/view?usp=drive_link -# * map3.db3: https://drive.google.com/file/d/1dJzMOoRPA28gQZUIWCeAa08Qn4wG9oRw/view?usp=drive_link -# * map4.db3: https://drive.google.com/file/d/19Y6yye0ndIIwdhEWMwTdoiSy9WlKS44c/view?usp=drive_link -# * map5.db3: https://drive.google.com/file/d/1zCx4Q4SftPplQtW1xeG-W3OkbTxwd5GD/view?usp=drive_link +# * map1_bag.zip: https://github.com/introlab/rtabmap_ros/releases/download/0.23.13/map1_bag.zip +# * map2_bag.zip: https://github.com/introlab/rtabmap_ros/releases/download/0.23.13/map2_bag.zip +# * map3_bag.zip: https://github.com/introlab/rtabmap_ros/releases/download/0.23.13/map3_bag.zip +# * map4_bag.zip: https://github.com/introlab/rtabmap_ros/releases/download/0.23.13/map4_bag.zip +# * map5_bag.zip: https://github.com/introlab/rtabmap_ros/releases/download/0.23.13/map5_bag.zip # # Example: # @@ -13,12 +13,12 @@ # $ ros2 launch rtabmap_demos multisession_mapping_demo.launch.py # # Rosbag: -# $ ros2 bag play map1.db3 --clock +# $ ros2 bag play map1_bag --clock # when done, you can play the next bag(s): -# $ ros2 bag play map2.db3 --clock -# $ ros2 bag play map3.db3 --clock -# $ ros2 bag play map4.db3 --clock -# $ ros2 bag play map5.db3 --clock +# $ ros2 bag play map2_bag --clock +# $ ros2 bag play map3_bag --clock +# $ ros2 bag play map4_bag --clock +# $ ros2 bag play map5_bag --clock # # Refer to this paper for more info: https://arxiv.org/abs/2407.15305 # diff --git a/rtabmap_demos/launch/netherdrone_lidar3d_demo.launch.py b/rtabmap_demos/launch/netherdrone_lidar3d_demo.launch.py new file mode 100644 index 00000000..b88b1135 --- /dev/null +++ b/rtabmap_demos/launch/netherdrone_lidar3d_demo.launch.py @@ -0,0 +1,151 @@ +# Description: +# 3D lidar SLAM with an Ouster OS1-32 turning on a motorized mast (a dynamixel +# joint), carried by a drone frame. The mast rotation sweeps the lidar's 32 beams +# over the whole sphere, but it also moves the lidar by a few degrees during each +# sweep: scans are deskewed point by point with TF, using the IMU orientation for +# the base and the joint states for the mast. This is rtabmap_examples' +# lidar3d_assemble.launch.py, set up for the bag: scans are assembled over half a +# turn of the mast, so each node of the map holds a full sphere. +# +# Note: the camera's rotation relative to the lidar (box_link -> camera_link in the +# bags' TF) was calibrated with rtabmap's rtabmap-lidarCameraCalibration tool; its +# translation is as measured. +# +# Requirements: +# Download one or more rosbags, the consecutive minutes of the same run: +# * netherdrone_ouster_vertige_bag_0.zip: https://github.com/introlab/rtabmap_ros/releases/download/0.23.13/netherdrone_ouster_vertige_bag_0.zip +# * netherdrone_ouster_vertige_bag_1.zip: https://github.com/introlab/rtabmap_ros/releases/download/0.23.13/netherdrone_ouster_vertige_bag_1.zip +# * netherdrone_ouster_vertige_bag_2.zip: https://github.com/introlab/rtabmap_ros/releases/download/0.23.13/netherdrone_ouster_vertige_bag_2.zip +# * netherdrone_ouster_vertige_bag_3.zip: https://github.com/introlab/rtabmap_ros/releases/download/0.23.13/netherdrone_ouster_vertige_bag_3.zip +# * netherdrone_ouster_vertige_bag_4.zip: https://github.com/introlab/rtabmap_ros/releases/download/0.23.13/netherdrone_ouster_vertige_bag_4.zip +# * netherdrone_ouster_vertige_bag_5.zip: https://github.com/introlab/rtabmap_ros/releases/download/0.23.13/netherdrone_ouster_vertige_bag_5.zip +# +# Example: +# +# SLAM: +# $ ros2 launch rtabmap_demos netherdrone_lidar3d_demo.launch.py +# +# Rosbag: +# $ ros2 bag play netherdrone_ouster_vertige_bag_0 --clock +# or, to play the bags one after the other: +# $ ros2 bag play netherdrone_ouster_vertige_bag_0 --clock && \ +# ros2 bag play netherdrone_ouster_vertige_bag_1 --clock && \ +# ros2 bag play netherdrone_ouster_vertige_bag_2 --clock && \ +# ros2 bag play netherdrone_ouster_vertige_bag_3 --clock && \ +# ros2 bag play netherdrone_ouster_vertige_bag_4 --clock && \ +# ros2 bag play netherdrone_ouster_vertige_bag_5 --clock +# + +import os + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription +from launch.conditions import IfCondition +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import LaunchConfiguration, PythonExpression +from launch_ros.actions import Node + + +def generate_launch_description(): + + lidar3d_assemble_launch = os.path.join( + get_package_share_directory('rtabmap_examples'), 'launch', 'lidar3d_assemble.launch.py') + config_rviz = os.path.join( + get_package_share_directory('rtabmap_demos'), 'config', 'demo_lidar3d.rviz') + config_rtabmap_viz = os.path.join( + get_package_share_directory('rtabmap_demos'), 'config', 'demo_lidar3d_gui.ini') + + camera = LaunchConfiguration('camera') + rgbd_image_topic = PythonExpression( + ["'/camera/rgbd_image' if '", camera, "'.lower() == 'true' else ''"]) + + + return LaunchDescription([ + + # Launch arguments + DeclareLaunchArgument('rtabmap_viz', default_value='true', description='Launch RTAB-Map UI (optional).'), + DeclareLaunchArgument('rtabmap_viz_cfg', default_value=config_rtabmap_viz, description='Configuration path of rtabmap_viz.'), + DeclareLaunchArgument('rviz', default_value='true', description='Launch RVIZ (optional).'), + DeclareLaunchArgument('rviz_cfg', default_value=config_rviz, description='Configuration path of rviz2.'), + DeclareLaunchArgument('localization', default_value='false', description='Launch in localization mode.'), + DeclareLaunchArgument('voxel_size', default_value='0.3', + description='Voxel size (m) of the downsampled lidar point cloud. In this bag, the median range is 5-7 m and the farthest points are ~23 m.'), + DeclareLaunchArgument('camera', default_value='true', + description='Add the camera images to the map, with a depth made from the lidar, for visual loop closure detection (bag-of-words). Registration stays lidar only.'), + DeclareLaunchArgument('lidar_range_min', default_value='0.84', + description='Lidar points closer than this (m) are ignored. About 6% of each scan hits the drone itself, all within 0.6 m; the surroundings start at ~0.9 m.'), + DeclareLaunchArgument('assembler_voxel_size', default_value='0.05', + description='Voxel size (m) of the assembled clouds added to the map; 0 keeps every point (larger database, e.g., for camera-lidar calibration).'), + DeclareLaunchArgument('assembling_time', default_value='4.3', + description='How long (s) scans are assembled before being added to the map. The mast turns at 42 deg/s: 4.3 s is half a turn, in which the lidar\'s scanning plane sweeps the whole sphere.'), + DeclareLaunchArgument('intermediate_nodes', default_value='false', + description='Also save every odometry pose (10 Hz) between the map\'s nodes in the database.'), + + IncludeLaunchDescription( + PythonLaunchDescriptionSource(lidar3d_assemble_launch), + launch_arguments={ + 'use_sim_time': 'true', + 'frame_id': 'base_link', + 'lidar_topic': '/os_cloud_node/points', + # The fixed frame for deskewing (base_link_stabilized) is made from its + # orientation. + 'imu_topic': '/imu/data_filtered', + 'voxel_size': LaunchConfiguration('voxel_size'), + 'max_correspondence_distance': '1.0', + 'icp_outlier_ratio': '0.3', + 'odom_key_frame_threshold': '0.9', + 'min_loop_closure_overlap': '0.1', + 'odom_local_map_size': '20000', + 'assembler_voxel_size': LaunchConfiguration('assembler_voxel_size'), + 'rgbd_image_topic': rgbd_image_topic, + # The images are raw (k1=-0.34): rectify them, so that the lidar projected + # into them as their depth (gen_depth) lines up. + 'rectify_images': 'true', + 'gen_depth': camera, + 'lidar_range_min': LaunchConfiguration('lidar_range_min'), + 'expected_update_rate': '15.0', # the Ouster runs at 10 Hz + 'assembling_time': LaunchConfiguration('assembling_time'), + # Look TF up at every point's own time ("t" field) rather than + # interpolating between the first and last points of the sweep: exact, + # for more TF lookups. + 'deskewing_slerp': 'false', + 'rtabmap_viz': LaunchConfiguration('rtabmap_viz'), + 'rtabmap_viz_cfg': LaunchConfiguration('rtabmap_viz_cfg'), + 'localization': LaunchConfiguration('localization'), + 'intermediate_nodes': LaunchConfiguration('intermediate_nodes'), + }.items()), + + # Camera image and calibration, together in one topic for rtabmap. Both have + # the same stamps. The camera has no depth: rtabmap makes it from the lidar. + Node( + condition=IfCondition(camera), + package='rtabmap_sync', executable='rgb_sync', output='screen', + parameters=[{ + 'use_sim_time': True, + 'approx_sync': False, + 'image_transport': 'compressed'}], + remappings=[('rgb/image', '/camera/image_raw'), + ('rgb/camera_info', '/camera/camera_info'), + ('rgbd_image', '/camera/rgbd_image')]), + + # Orientation from the gyro and accelerometer of /imu/data_raw. Its own + # orientation (despite the name, it has one) is off from the accelerometer by a + # constant ~2 deg in roll and ~4 deg in pitch, so it is not used. + Node( + package='imu_complementary_filter', executable='complementary_filter_node', output='screen', + parameters=[{ + 'use_sim_time': True, + 'use_mag': False, + 'publish_tf': False, + 'do_bias_estimation': True, + 'do_adaptive_gain': True}], + remappings=[('imu/data_raw', '/imu/data_raw'), + ('imu/data', '/imu/data_filtered')]), + + Node( + package='rviz2', executable='rviz2', name='rviz2', output='screen', + condition=IfCondition(LaunchConfiguration('rviz')), + parameters=[{'use_sim_time': True}], + arguments=['-d', LaunchConfiguration('rviz_cfg')]), + ]) diff --git a/rtabmap_demos/launch/robot_mapping_demo.launch.py b/rtabmap_demos/launch/robot_mapping_demo.launch.py index d6ed7451..bcb542b1 100644 --- a/rtabmap_demos/launch/robot_mapping_demo.launch.py +++ b/rtabmap_demos/launch/robot_mapping_demo.launch.py @@ -1,6 +1,6 @@ # Requirements: # Download rosbag: -# * demo_mapping.db3: https://drive.google.com/file/d/1v9qJ2U7GlYhqBJr7OQHWbDSCfgiVaLWb/view?usp=drive_link +# * demo_mapping_bag.zip: https://github.com/introlab/rtabmap_ros/releases/download/0.23.13/demo_mapping_bag.zip # # Example: # @@ -8,7 +8,7 @@ # $ ros2 launch rtabmap_demos robot_mapping_demo.launch.py rviz:=true rtabmap_viz:=true # # Rosbag: -# $ ros2 bag play demo_mapping.db3 --clock +# $ ros2 bag play demo_mapping_bag --clock # from launch import LaunchDescription @@ -43,11 +43,11 @@ def generate_launch_description(): 'RGBD/OptimizeFromGraphEnd': 'false', # Optimize graph from initial node so /map -> /odom transform will be generated 'RGBD/OptimizeMaxError': '4', # Reject any loop closure causing large errors (>3x link's covariance) in the map 'Reg/Force3DoF': 'true', # 2D SLAM - 'Grid/FromDepth': 'false', # Create 2D occupancy grid from laser scan + 'Grid/Sensor': '0', # Create 2D occupancy grid from laser scan 'Mem/STMSize': '30', # increased to 30 to avoid adding too many loop closures on just seen locations 'RGBD/LocalRadius': '5', # limit length of proximity detections 'Icp/CorrespondenceRatio': '0.2', # minimum scan overlap to accept loop closure - 'Icp/PM': 'false', + 'Icp/Strategy': '0', # 0=PCL, 1=libpointmatcher 'Icp/PointToPlane': 'false', 'Icp/MaxCorrespondenceDistance': '0.15', 'Icp/VoxelSize': '0.05' diff --git a/rtabmap_demos/launch/stereo_outdoor_demo.launch.py b/rtabmap_demos/launch/stereo_outdoor_demo.launch.py index f3b63581..ad8377f5 100644 --- a/rtabmap_demos/launch/stereo_outdoor_demo.launch.py +++ b/rtabmap_demos/launch/stereo_outdoor_demo.launch.py @@ -1,7 +1,7 @@ # Requirements: # Download one or both rosbags: -# * stereo_outdoorA.db3: https://drive.google.com/file/d/1O7mCXg_sw4tZY1S88a-n96O6OulmqvqI/view?usp=drive_link -# * stereo_outdoorB.db3: https://drive.google.com/file/d/1mSu7418Fkbe-hIz2-3Mi936PrWuD2un_/view?usp=drive_link +# * stereo_outdoorA_bag.zip: https://github.com/introlab/rtabmap_ros/releases/download/0.23.13/stereo_outdoorA_bag.zip +# * stereo_outdoorB_bag.zip: https://github.com/introlab/rtabmap_ros/releases/download/0.23.13/stereo_outdoorB_bag.zip # # Example: # @@ -9,9 +9,9 @@ # $ ros2 launch rtabmap_demos stereo_outdoor_demo.launch.py rviz:=true rtabmap_viz:=true # # Rosbag: -# $ ros2 bag play stereo_outdoorA.db3 --clock +# $ ros2 bag play stereo_outdoorA_bag --clock # when done, you can play the secon bag: -# $ ros2 bag play stereo_outdoorB.db3 --clock +# $ ros2 bag play stereo_outdoorB_bag --clock # from launch import LaunchDescription @@ -44,6 +44,7 @@ def generate_launch_description(): 'OdomF2M/MaxSize': '1000', 'GFTT/MinDistance': '10', 'GFTT/QualityLevel': '0.00001', + 'Optimizer/Iterations': '30', # With g2o (rtabmap built without GTSAM), Levenberg-Marquardt needs ~25 iterations to converge on this graph #'Kp/DetectorStrategy': '6', # Uncommment to match ros1 noetic results, but opencv should be built with xfeatures2d #'Vis/FeatureType': '6' # Uncommment to match ros1 noetic results, but opencv should be built with xfeatures2d } @@ -72,13 +73,17 @@ def generate_launch_description(): Node( package='image_transport', executable='republish', name='republish_left', output='screen', namespace='stereo_camera', + # The transports: as arguments up to humble, as parameters from jazzy. arguments=['compressed', 'raw'], + parameters=[{'in_transport': 'compressed', 'out_transport': 'raw'}], remappings=[('in/compressed', 'left/image_raw_throttle/compressed'), ('out', 'left/image_raw')]), Node( package='image_transport', executable='republish', name='republish_right', output='screen', namespace='stereo_camera', + # The transports: as arguments up to humble, as parameters from jazzy. arguments=['compressed', 'raw'], + parameters=[{'in_transport': 'compressed', 'out_transport': 'raw'}], remappings=[('in/compressed', 'right/image_raw_throttle/compressed'), ('out', 'right/image_raw')]), diff --git a/rtabmap_demos/launch/stereo_outdoor_demo_composition.launch.py b/rtabmap_demos/launch/stereo_outdoor_demo_composition.launch.py index 4510d659..a3cafc08 100644 --- a/rtabmap_demos/launch/stereo_outdoor_demo_composition.launch.py +++ b/rtabmap_demos/launch/stereo_outdoor_demo_composition.launch.py @@ -1,7 +1,7 @@ # Requirements: # Download one or both rosbags: -# * stereo_outdoorA.db3: https://drive.google.com/file/d/1O7mCXg_sw4tZY1S88a-n96O6OulmqvqI/view?usp=drive_link -# * stereo_outdoorB.db3: https://drive.google.com/file/d/1mSu7418Fkbe-hIz2-3Mi936PrWuD2un_/view?usp=drive_link +# * stereo_outdoorA_bag.zip: https://github.com/introlab/rtabmap_ros/releases/download/0.23.13/stereo_outdoorA_bag.zip +# * stereo_outdoorB_bag.zip: https://github.com/introlab/rtabmap_ros/releases/download/0.23.13/stereo_outdoorB_bag.zip # # This is the "composition" variant of stereo_outdoor_demo.launch.py: the whole # pipeline (image_proc rectification, stereo synchronization, visual odometry @@ -16,9 +16,9 @@ # $ ros2 launch rtabmap_demos stereo_outdoor_demo_composition.launch.py rviz:=true rtabmap_viz:=true # # Rosbag: -# $ ros2 bag play stereo_outdoorA.db3 --clock +# $ ros2 bag play stereo_outdoorA_bag --clock # when done, you can play the secon bag: -# $ ros2 bag play stereo_outdoorB.db3 --clock +# $ ros2 bag play stereo_outdoorB_bag --clock # from launch import LaunchDescription @@ -123,13 +123,17 @@ def generate_launch_description(): Node( package='image_transport', executable='republish', name='republish_left', output='screen', namespace='stereo_camera', + # The transports: as arguments up to humble, as parameters from jazzy. arguments=['compressed', 'raw'], + parameters=[{'in_transport': 'compressed', 'out_transport': 'raw'}], remappings=[('in/compressed', 'left/image_raw_throttle/compressed'), ('out', 'left/image_raw')]), Node( package='image_transport', executable='republish', name='republish_right', output='screen', namespace='stereo_camera', + # The transports: as arguments up to humble, as parameters from jazzy. arguments=['compressed', 'raw'], + parameters=[{'in_transport': 'compressed', 'out_transport': 'raw'}], remappings=[('in/compressed', 'right/image_raw_throttle/compressed'), ('out', 'right/image_raw')]), diff --git a/rtabmap_demos/package.xml b/rtabmap_demos/package.xml index fa753754..0aa5d81c 100644 --- a/rtabmap_demos/package.xml +++ b/rtabmap_demos/package.xml @@ -18,6 +18,28 @@ rtabmap_rviz_plugins rtabmap_viz nav2_bringup + rtabmap_examples + imu_complementary_filter + find_object_2d + + rclpy + tf2_ros_py + rtabmap_msgs + + ament_cmake_pytest + ament_index_python + rtabmap_launch + launch + launch_ros + python3-pytest + python3-yaml + python3-numpy + python3-scipy + rclpy + rosbag2_py + rosgraph_msgs + rosidl_runtime_py + rtabmap_msgs ament_cmake diff --git a/rtabmap_demos/scripts/find_object_to_landmarks.py b/rtabmap_demos/scripts/find_object_to_landmarks.py new file mode 100755 index 00000000..80bd718f --- /dev/null +++ b/rtabmap_demos/scripts/find_object_to_landmarks.py @@ -0,0 +1,145 @@ +#!/usr/bin/env python3 +""" +Republish find_object_2d's detections as landmark detections for rtabmap. + +find_object_2d publishes which objects it detected on `objectsStamped`, with their +homography in the image only; their 3D pose, when the depth allows it, goes on TF only, +as a frame _ relative to the camera. For each detected object, this +node looks that frame up at the detection's stamp and publishes it on +`landmark_detections` (rtabmap_msgs/LandmarkDetections), with the object's id as the +landmark's id. An object detected twice in the same image is used once. + +Covariance: rtabmap's Marker/* parameters apply only to the markers it detects itself, +a landmark detection is used with the covariance it carries. This node sets it from the +same parameters, as rtabmap does for its own markers, so that both can be given the same +values: + Marker/VarianceLinear linear variance (m^2), or with the orientation + ignored and GTSAM, the range variance (9999: bearing + only) + Marker/VarianceAngular angular variance (rad^2), or with the orientation + ignored and GTSAM, the bearing variance + Marker/VarianceOrientationIgnored ignore the object's orientation, only its position + (g2o) or its range and bearing (GTSAM) constrain the + map + Optimizer/Strategy rtabmap's optimizer: 2 is GTSAM. Needed with the + orientation ignored, set it to rtabmap's. + Reg/Force3DoF rtabmap's, for the 2D range and bearing layout +""" + +import signal + +import rclpy +from find_object_2d.msg import ObjectsStamped +from rclpy.duration import Duration +from rclpy.node import Node +from rclpy.time import Time +from rtabmap_msgs.msg import LandmarkDetection, LandmarkDetections +from tf2_ros import Buffer, TransformException, TransformListener + +# objectsStamped's objects.data: for each object, its id, width, height and 3x3 homography. +VALUES_PER_OBJECT = 12 +IGNORED = 9999.0 # a variance this large disables that part of the constraint + + +def _bool(value: str) -> bool: + return str(value).strip().lower() == 'true' + + +class FindObjectToLandmarks(Node): + + def __init__(self): + super().__init__('find_object_to_landmarks') + self.object_prefix = self.declare_parameter('object_prefix', 'object').value + self.wait_for_transform = self.declare_parameter('wait_for_transform', 0.2).value + # As rtabmap's parameters: strings. + linear = float(self.declare_parameter('Marker/VarianceLinear', '0.001').value) + angular = float(self.declare_parameter('Marker/VarianceAngular', '0.01').value) + orientation_ignored = _bool( + self.declare_parameter('Marker/VarianceOrientationIgnored', 'false').value) + strategy = self.declare_parameter('Optimizer/Strategy', '').value + force_3dof = _bool(self.declare_parameter('Reg/Force3DoF', 'false').value) + if orientation_ignored and not strategy: + self.get_logger().warn( + 'Marker/VarianceOrientationIgnored is true but Optimizer/Strategy is not set: ' + 'assuming it is not GTSAM. Set it to rtabmap\'s.') + self.covariance = self._covariance( + linear, angular, orientation_ignored, strategy == '2', force_3dof) + self.get_logger().info( + f'object_prefix={self.object_prefix}, covariance diagonal=' + f'{[self.covariance[i * 7] for i in range(6)]}') + + self.tf_buffer = Buffer() + # Its own thread: on_objects() waits for the object's frame. + self.tf_listener = TransformListener(self.tf_buffer, self, spin_thread=True) + self.publisher = self.create_publisher(LandmarkDetections, 'landmark_detections', 10) + self.create_subscription(ObjectsStamped, 'objectsStamped', self.on_objects, 10) + + @staticmethod + def _covariance(linear, angular, orientation_ignored, gtsam, force_3dof): + """The 6x6 covariance rtabmap gives its own markers (see Memory.cpp), row-major.""" + diagonal = [linear] * 3 + [angular] * 3 + if orientation_ignored: + diagonal = [linear] * 3 + [IGNORED] * 3 + if gtsam and force_3dof: + # 2D bearing and range: x is the bearing, y the range (see OptimizerGTSAM). + diagonal[0:3] = [angular, linear, 1.0] + elif gtsam: + # 3D bearing and range: x and y are the bearing, z the range. + diagonal[0:3] = [angular, angular, linear] + covariance = [0.0] * 36 + for i, value in enumerate(diagonal): + covariance[i * 7] = value + return covariance + + def on_objects(self, msg: ObjectsStamped): + detections = LandmarkDetections() + detections.header = msg.header + data = msg.objects.data + used = set() + for i in range(0, len(data) - VALUES_PER_OBJECT + 1, VALUES_PER_OBJECT): + object_id = int(data[i]) + if object_id <= 0 or object_id in used: + continue + used.add(object_id) + frame = f'{self.object_prefix}_{object_id}' + try: + transform = self.tf_buffer.lookup_transform( + msg.header.frame_id, frame, Time.from_msg(msg.header.stamp), + Duration(seconds=self.wait_for_transform)) + except TransformException as e: + # find_object_2d publishes no frame for an object without valid depth. + self.get_logger().debug(f'object {object_id} skipped: {e}') + continue + landmark = LandmarkDetection() + landmark.header = msg.header + landmark.landmark_frame_id = frame + landmark.id = object_id + t, r = transform.transform.translation, transform.transform.rotation + pose = landmark.pose.pose + pose.position.x, pose.position.y, pose.position.z = t.x, t.y, t.z + pose.orientation = r + landmark.pose.covariance = self.covariance + detections.landmarks.append(landmark) + if detections.landmarks: + self.publisher.publish(detections) + + +def main(): + rclpy.init() + node = FindObjectToLandmarks() + try: + rclpy.spin(node) + except KeyboardInterrupt: + pass + finally: + # A second Ctrl-C (one from the terminal, one from ros2 launch) would interrupt + # the cleanup. + signal.signal(signal.SIGINT, signal.SIG_IGN) + # Its thread before rclpy: torn down after, it raises at exit. + node.tf_listener.unregister() + node.destroy_node() + rclpy.try_shutdown() + + +if __name__ == '__main__': + main() diff --git a/rtabmap_demos/test/README.md b/rtabmap_demos/test/README.md new file mode 100644 index 00000000..a5d33454 --- /dev/null +++ b/rtabmap_demos/test/README.md @@ -0,0 +1,207 @@ +# Demo playback tests + +`test_demo_playback.py` replays a demo's bag through the demo's own launch file and compares the graph rtabmap builds with a golden one, saved in [golden/](golden/). It checks that a change anywhere in the pipeline (a node, a launch file, rtabmap itself) still produces the same map. + +| Scenario | Launch file | Bag | +|---|---|---| +| `robot_mapping` | `robot_mapping_demo.launch.py` | `demo_mapping_bag` | +| `stereo_outdoor` | `stereo_outdoor_demo.launch.py` | `stereo_outdoorA_bag` then `stereo_outdoorB_bag` | +| `netherdrone_lidar3d` | `netherdrone_lidar3d_demo.launch.py` | `netherdrone_ouster_vertige_bag_0` to `_5`, played one after the other | +| `find_object` | `find_object_demo.launch.py` | `demo_find_object_bag` (skipped without `find_object_2d`, which Lyrical and Rolling do not have) | + +## Running + +The bags are about 5 GB, so they are not in the repository. Fetch them once, into `test/data` (each bag is listed with its SHA-256 in [data/manifest.txt](data/manifest.txt)): + +```bash +bash test/fetch_test_data.sh +``` + +Without them, the scenarios skip themselves. Then, from the workspace: + +```bash +colcon test --packages-select rtabmap_demos --ctest-args -R test_demo_playback +``` + +Each scenario replays its bag in about real time on a desktop, longer on a slower machine. The test's CMake registration gives it its own DDS domain (`ROS_DOMAIN_ID=110`): when running `pytest` directly instead, set it yourself, or any other ROS node running on the machine will talk to the pipeline and spoil the run. + +| Environment variable | Effect | +|---|---| +| `RTABMAP_DEMOS_TEST_DATA` | Where the bags are (default `test/data`). | +| `RTABMAP_DEMOS_TEST_RESULTS` | Where each run's database, graph and launch log are kept (default: a temporary directory). In CI, they are uploaded when the test fails. | +| `RTABMAP_DEMOS_UPDATE_GOLDEN=1` | Write the run's graph as the new golden one instead of comparing with it. | + +## How a run works + +1. The demo's launch file is started through a small generated launch file (`demo.launch.py` in the results folder), which includes the demo with the scenario's `launch_arguments` after `launch_ros`' `SetParametersFromFile`. Its parameter file (`demo.launch.yaml`) gives the node named `rtabmap` its database path and ground truth frames, and every node the scenario's `parameters`. So the demos need no launch argument for the test, and a node's own value for a parameter, set by its launch file, wins over the file's. +2. The bag is replayed in lockstep with the pipeline (see below), and the golden trajectory is published in TF beside it, as `golden_map` → `golden_base`. rtabmap is given these as its ground truth frames, so it computes the error of its map against the golden trajectory itself (the `Gt/*` statistics of `/info`). +3. Once the bag is done, the launch file is stopped as Ctrl-C would, so rtabmap closes its database. The graph is exported from the database with `rtabmap-export`, every node optimized. +4. The run is compared with the golden graph: node count, loop closures and path length within each scenario's tolerances, and rtabmap's translational and rotational RMSE against the golden trajectory under each scenario's limits. + +## The lockstep player + +`ros2 bag play` publishes at the bag's pace, whatever the nodes do. On a loaded machine, a node still busy with the previous frame drops the next one, and which frames get dropped changes from run to run. `bag_lockstep.py` instead publishes each sensor message only once the whole pipeline has finished with the previous one, so a slower machine only takes longer. + +- **Gated topics:** the large messages something subscribes to, the ones the pipeline takes time to process: images (raw and compressed), point clouds and laser scans (`GATED_TYPES`). The other topics, IMU, camera info, odometry, TF, go out in the bag's order without waiting: before the next large message, the pipeline is idle again, so it has processed them. Topics nobody subscribes to are published in the bag's order as well. +- **Idle:** read from the kernel, not from the nodes. The player reads the state of every thread of every process started by `ros2 launch` (`/proc//task/*/stat`): a thread with work to do is runnable, also while it waits for a CPU, and a node waiting for its next message has all its threads asleep. A node passing a message on wakes the next one before going back to sleep, so the pipeline only looks idle once its last stage is done. Idle means no runnable thread in 2 checks in a row, 2 ms apart. +- **Clock:** `/clock` is set to each gated message's stamp before it is published. +- **TF:** not gated, and sent ahead of the large messages: those are held back by 0.2 s, so the transforms a node needs for a frame are in its buffer when the frame arrives. The other ungated topics go out at their own stamps too, so 0.2 s ahead of them as well. The golden trajectory goes out the same way, with poses at most 0.25 s apart and 0.5 s ahead of their stamps. +- **Synchronous publishing:** the test sets `RMW_FASTRTPS_PUBLICATION_MODE=SYNCHRONOUS`, so that `publish()` sends the message before returning. Otherwise right after a `publish()` nothing has woken up yet, and the pipeline looks idle. + +A sleeping thread looks idle even when work is still under way: a node waiting for a transform with a timeout, or a message still on its way to a subscriber. A message then goes out early, and waits in its subscriber's queue, so nothing is lost as long as every subscriber keeps what it receives: + +- **Reliable subscriptions:** every QoS parameter of rtabmap's nodes is set to reliable (`RELIABLE_QOS` in `test_demo_playback.py`). Their default, the system's, is best effort with Fast DDS (the ROS 2 default), which drops a message arriving while the node is busy: a loaded CI runner lost up to two thirds of the lidar sweeps that way. +- **Every frame processed:** odometry with `always_process_most_recent_frame` on drops a frame arriving while it is busy. The scenarios set it off, and deepen the queues that need it (`parameters`, `node_parameters`). + +`RTABMAP_DEMOS_REPLAY=chunked` replays without the idle check instead: at the bag's pace, 10 s at a time, waiting after each until rtabmap's `/info` has caught up (within each scenario's `chunk_slack`). It is as fast, but within a chunk a node slower than real time builds up a backlog: lockstep, the default, waits for it instead. + +## Examples + +Each diagram follows one frame of a scenario through its pipeline. "Wait until every thread is asleep" is the player's idle check, before each gated message; the other messages go out without it. + +### `robot_mapping`: one camera frame + +The bag holds a robot's laser scans, its camera's compressed color and depth images and camera info, and TF, which also carries the wheel odometry (`odom` → `base_footprint`). `rgbd_sync` uncompresses the images and pairs them, and `rtabmap` pairs that with the closest laser scan (approximate sync), takes the odometry from TF and maps, one update per second (`Rtabmap/DetectionRate`). The three gated topics are `/jn0/base_scan`, `data_throttled_image/compressed` and `data_throttled_image_depth/compressedDepth`; `data_throttled_camera_info` goes out without waiting. There are about five scans per camera frame: + +```mermaid +sequenceDiagram + autonumber + participant P as Lockstep player + participant S as rgbd_sync + participant M as rtabmap + participant T as Test + + Note over P: /tf of the next 0.2 s already sent (wheel odometry,
robot frames), and the golden trajectory 0.5 s ahead + + loop about five times per camera frame + P->>P: wait until every thread is asleep + P->>M: /clock, then /jn0/base_scan + Note over M: kept in its synchronizer's queue + end + + P->>S: data_throttled_camera_info (no wait) + P->>P: wait until every thread is asleep + P->>S: data_throttled_image/compressed + P->>P: wait until every thread is asleep + P->>S: data_throttled_image_depth/compressedDepth + S->>M: rgbd_image (color, depth and camera info, uncompressed) + alt once a second (Rtabmap/DetectionRate) + M->>M: pair with the closest scan, odometry from odom → base_footprint,
add a node, look for loop closures,
its ground truth from golden_map → golden_base + M->>T: /info (statistics, Gt/* errors) + end + Note over P: everything asleep again:
the next message can go +``` + +With `output_queue_size: 10` on `rgbd_sync`, an image it publishes is not replaced before rtabmap has received it. + +### `stereo_outdoor`: one stereo frame + +Each of the two bags holds the left and right compressed images and camera infos of a stereo camera, and TF. The demo uncompresses the images (`image_transport` `republish`), rectifies them (`stereo_image_proc`), pairs them (`stereo_sync`), computes visual odometry from them (`stereo_odometry`) and maps (`rtabmap`, one update per second, `Rtabmap/DetectionRate`). The two gated topics are the left and right `image_raw_throttle/compressed`; their `camera_info_throttle` go out without waiting. For one stereo frame: + +```mermaid +sequenceDiagram + autonumber + participant P as Lockstep player + participant R as republish (left, right) + participant I as stereo_image_proc + participant S as stereo_sync + participant O as stereo_odometry + participant M as rtabmap + participant T as Test + + Note over P: /tf of the next 0.2 s already sent,
and the golden trajectory 0.5 s ahead + + P->>S: left and right camera_info (no wait) + Note over S: waits for the images + + P->>P: wait until every thread is asleep + P->>R: /clock, then left image_raw_throttle/compressed + R->>I: left/image_raw + I->>S: left/image_rect (debayered, rectified) + Note over S: waits for the right image + + P->>P: wait until every thread is asleep + P->>R: right image_raw_throttle/compressed + R->>I: right/image_raw + I->>S: right/image_rect + S->>O: rgbd_image (left and right, exact sync) + S->>M: rgbd_image + O->>M: /vo (odom), and odom → base_footprint on /tf + alt once a second (Rtabmap/DetectionRate) + M->>M: add a node, look for loop closures,
its ground truth from golden_map → golden_base + M->>T: /info (statistics, Gt/* errors) + end + Note over P: everything asleep again:
the next frame can go +``` + +The pipeline is idle only once rtabmap is done with the frame, so the next frame is never published while any node is still working on this one. With `always_process_most_recent_frame: False`, odometry registers each frame in turn rather than skipping to the most recent, and with `output_queue_size: 10` on `stereo_sync`, a frame it publishes is not replaced before odometry and rtabmap have received it. + +### `netherdrone_lidar3d`: one lidar sweep + +The bag holds a drone's lidar sweeps (Ouster, 10 Hz), an IMU, its camera's compressed images and camera info, and TF (the sensors' mounting, the lidar's rotating mast). The demo includes `lidar3d_assemble.launch.py` from `rtabmap_examples`: + +- `complementary_filter_node` filters the IMU into `/imu/data_filtered`, and `imu_to_tf` turns its orientation into TF, `base_link_stabilized` → `base_link`. +- `lidar_deskewing` corrects each sweep for the motion during it, from that TF, into `/os_cloud_node/points/deskewed`. +- `icp_odometry` registers each deskewed sweep (with the filtered IMU, and the stabilized frame as guess) into `/icp_odom`, and TF `icp_odom` → `base_link_stabilized`. +- `point_cloud_assembler` accumulates the deskewed sweeps over 4.3 s (half a turn of the mast) into `/assembled_cloud`. +- `rgb_sync` uncompresses the camera images into `/camera/rgbd_image`. +- `rtabmap` adds a node for each assembled cloud, with the camera image closest to it and a depth made from the lidar, and an intermediate node for each odometry pose in between (`intermediate_nodes:=true`). + +The two gated topics are `/os_cloud_node/points` and `/camera/image_raw/compressed`; `/imu/data_raw` and `/camera/camera_info` go out without waiting. Between two sweeps, the bag holds about eight IMU messages and three camera frames: + +```mermaid +sequenceDiagram + autonumber + participant P as Lockstep player + participant F as complementary_filter + participant U as imu_to_tf + participant C as rgb_sync + participant D as lidar_deskewing + participant O as icp_odometry + participant A as point_cloud_assembler + participant M as rtabmap + participant T as Test + + Note over P: /tf of the next 0.2 s already sent (mounting, mast),
and the golden trajectory 0.5 s ahead + + loop about eight times per sweep + P->>F: /imu/data_raw (no wait) + F->>O: /imu/data_filtered + F->>U: /imu/data_filtered + U->>U: TF base_link_stabilized → base_link + end + + loop about three times per sweep + P->>C: /camera/camera_info (no wait) + P->>P: wait until every thread is asleep + P->>C: /clock, then /camera/image_raw/compressed + C->>M: /camera/rgbd_image + Note over M: kept in its synchronizer's queue + end + + P->>P: wait until every thread is asleep + P->>D: /clock, then /os_cloud_node/points + D->>D: TF over the sweep (base_link_stabilized) + D->>O: /os_cloud_node/points/deskewed + D->>A: /os_cloud_node/points/deskewed + O->>A: /icp_odom, and icp_odom → base_link_stabilized on /tf + O->>M: /icp_odom (kept for an intermediate node) + alt every 4.3 s, half a turn of the mast + A->>M: /assembled_cloud + M->>M: sync with /icp_odom and the closest camera image,
add a node and the intermediate nodes since the last one,
their ground truth from golden_map → golden_base + M->>T: /info (statistics, Gt/* errors) + end + Note over P: everything asleep again:
the next message can go +``` + +The idle check before each sweep comes after the IMU messages before it: by then, the filter and `imu_to_tf` have processed them, and the transforms `lidar_deskewing` needs are there. Every sweep reaches odometry with reliable subscriptions throughout (a best-effort `lidar_deskewing` lost up to two thirds of them on CI), and `icp_odometry` registers each in turn (`always_process_most_recent_frame: False`, `topic_queue_size: 10`). The six bags of the flight are played one after the other, about 6 minutes of data. + +## Golden graphs + +[golden/](golden/) holds each scenario's graph (`.g2o`) and trajectory (`.tum`). The golden graphs are made on a developer's machine, and the rtabmap built there with all its optional dependencies: CI builds rtabmap differently, which changes how many frames rtabmap merges into the previous node, hence each scenario's tolerances. To regenerate one after a deliberate change to the pipeline: + +```bash +RTABMAP_DEMOS_UPDATE_GOLDEN=1 ROS_DOMAIN_ID=110 python3 -m pytest -s test/test_demo_playback.py -k stereo +``` + +Then replay it once more without `RTABMAP_DEMOS_UPDATE_GOLDEN`, to check a run matches it, and commit the two files. diff --git a/rtabmap_demos/test/bag_lockstep.py b/rtabmap_demos/test/bag_lockstep.py new file mode 100644 index 00000000..01d3e3b3 --- /dev/null +++ b/rtabmap_demos/test/bag_lockstep.py @@ -0,0 +1,496 @@ +""" +Play a rosbag2 bag in lockstep with the nodes consuming it. + +`ros2 bag play` publishes at the bag's pace whatever the consumers do; on a loaded +machine a node still busy with the previous frame drops the next one, and which +frames it drops changes from run to run. Here a sensor message is only published +once every process of the pipeline is idle again, so on a slower machine the replay +just takes longer, and each node sees every message it would on an idle one. + +This needs every publisher of the pipeline, this player's included, to send the +message before publish() returns (RMW_FASTRTPS_PUBLICATION_MODE=SYNCHRONOUS with Fast +DDS, which otherwise sends large messages from a thread of its own; Cyclone DDS always +does). Else, right after a publish(), nothing has woken up yet and all looks idle. + +"Idle" is read from the kernel, not from the nodes: a thread with work to do is +runnable (state R) -- also while it waits for a CPU, which is what makes this hold +under load -- and a node waiting for its next message has every thread sleeping. A +node passing a message on wakes the next one before going back to sleep, so a +pipeline is idle only once its last stage is done. That needs no knowledge of what +each node publishes, or of which frames the SLAM node keeps (those it skips because +of Rtabmap/DetectionRate publish nothing at all). + +TF is not gated. It is published ahead of the sensor data by a lookahead, so a +transform interpolated at a frame's stamp -- or at the stamp of a lidar sweep's last +point, for deskewing -- is already in the listener's buffer when the frame arrives. + +Transforms not in the bag can be added to its TF (add_trajectory), each sent a lead +time before its stamp: a ground truth trajectory for rtabmap, for instance. +""" + +import collections +import heapq +import os +import time +from typing import Callable, Dict, List, Optional, Set, Tuple + +import numpy as np +import rosbag2_py +import yaml +from geometry_msgs.msg import TransformStamped +from rclpy.node import Node +from rclpy.serialization import serialize_message +from rclpy.qos import DurabilityPolicy, HistoryPolicy, QoSProfile, ReliabilityPolicy +from rosgraph_msgs.msg import Clock +from rosidl_runtime_py.utilities import get_message +from scipy.spatial.transform import Rotation, Slerp +from tf2_msgs.msg import TFMessage + +# Only the large messages, those the pipeline takes time to process, wait for it to be +# idle: images, point clouds and laser scans. The others (IMU, camera info, odometry, +# TF...) go out in the bag's order without waiting, and wait in their subscribers' +# queues if need be: before the next large one, the pipeline is idle again, so it has +# processed them all. +GATED_TYPES = ('sensor_msgs/msg/Image', 'sensor_msgs/msg/CompressedImage', + 'sensor_msgs/msg/PointCloud2', 'sensor_msgs/msg/LaserScan') + + +def _recorded_transient_local(offered_qos_profiles) -> bool: + """Whether a topic was recorded with a TRANSIENT_LOCAL publisher. + + rosbag2_py gives the recorded profiles as YAML text (humble; the durability as a + number, 1, or a name, transient_local, depending on the bag's version), or as its own + QoS objects (lyrical), whose durability() only sets it: those are converted to rclpy's. + """ + profiles = offered_qos_profiles + if isinstance(profiles, str): + profiles = yaml.safe_load(profiles) if profiles.strip() else [] + for profile in profiles or []: + if isinstance(profile, dict): + durability = profile.get('durability') + else: + if not isinstance(profile, QoSProfile) and hasattr(rosbag2_py, 'convert_rclcpp_qos_to_rclpy_qos'): + profile = rosbag2_py.convert_rclcpp_qos_to_rclpy_qos(profile) + durability = getattr(profile, 'durability', None) + if durability in (1, DurabilityPolicy.TRANSIENT_LOCAL) or str(durability).lower() in ( + 'transient_local', 'durabilitypolicy.transient_local'): + return True + return False + + +def _read_stat(path: str): + with open(path) as f: + stat = f.read() + # The command name is in parentheses and may itself hold spaces or parentheses. + name = stat[stat.index('(') + 1:stat.rindex(')')] + return name, stat[stat.rindex(')') + 2:].split() + + +def _read_next(reader): + """The next message of @p reader: topic, serialized data and receive timestamp. + + read_next_ext() (Lyrical and later) also returns the send timestamp; read_next(), + deprecated there, warns at each message. + """ + if hasattr(reader, 'read_next_ext'): + return reader.read_next_ext()[:3] + return reader.read_next() + + +class ProcessTree: + """The processes started under a root process (the `ros2 launch` one).""" + + def __init__(self, root_pid: int): + self.root_pid = root_pid + self._pids: List[int] = [] + self._refreshed = 0.0 + # Each thread's stat file, kept open: re-reading it (pread) is a fraction of the + # cost of opening it again, at each poll, for hundreds of threads. + self._stat_fds: Dict[Tuple[int, str], int] = {} + + def pids(self) -> List[int]: + # Nodes start in the first seconds and component containers may spawn later; + # walking /proc is the expensive part, so it is not done on every poll. + if time.monotonic() - self._refreshed > 1.0: + children: Dict[int, List[int]] = {} + for entry in os.listdir('/proc'): + if entry.isdigit(): + try: + _, fields = _read_stat(f'/proc/{entry}/stat') + except (OSError, ValueError): + continue + children.setdefault(int(fields[1]), []).append(int(entry)) + pids, todo = [], [self.root_pid] + while todo: + for child in children.get(todo.pop(), []): + pids.append(child) + todo.append(child) + self._pids = pids + self._refreshed = time.monotonic() + return self._pids + + def busy_threads(self) -> List[str]: + """Threads of the tree's processes (not of the root) that have work to do.""" + busy = [] + alive = set() + for pid in self.pids(): + try: + # Listed at every poll (cheap): a thread started since is watched at once. + tids = os.listdir(f'/proc/{pid}/task') + except OSError: + continue + for tid in tids: + key = (pid, tid) + alive.add(key) + fd = self._stat_fds.get(key) + try: + if fd is None: + fd = os.open(f'/proc/{pid}/task/{tid}/stat', os.O_RDONLY) + self._stat_fds[key] = fd + stat = os.pread(fd, 512, 0) + except OSError: + continue + # The state follows the command name, which is in parentheses and may + # itself hold spaces or parentheses. + end = stat.rfind(b')') + if end < 0 or end + 2 >= len(stat): + continue + state = chr(stat[end + 2]) + # R: running or runnable. D: in an uninterruptible wait, writing the + # database for instance -- busy as well. S, I, T, Z: nothing to do. + if state in ('R', 'D'): + name = stat[stat.find(b'(') + 1:end].decode(errors='replace') + busy.append(f'{pid}/{name}:{state}') + for key in [k for k in self._stat_fds if k not in alive]: + os.close(self._stat_fds.pop(key)) + return busy + + def wait_idle(self, idle_polls: int = 2, period: float = 0.002, timeout: float = 300.0): + """Wait until idle_polls polls in a row see no busy thread. + + A single quiet poll is not enough: timers wake threads briefly, and a message + in flight between two nodes leaves a gap of a few microseconds where both + sleep. Two, a period apart, cover a few milliseconds; a longer gap seen as idle + only lets the next message out early, to wait in its subscriber's queue. Raises + TimeoutError, naming the busy threads, if never idle. + """ + deadline = time.monotonic() + timeout + quiet = 0 + polls = 0 + # How often each thread was seen busy: one that keeps waking up (a timer) can keep + # the pipeline from ever looking idle long enough, without being busy at the last + # poll. + seen = collections.Counter() + while quiet < idle_polls: + if time.monotonic() > deadline: + most = ', '.join(f'{name} ({count})' for name, count in seen.most_common(5)) + raise TimeoutError( + f'never idle for {idle_polls} polls in a row after {timeout:.0f} s; ' + f'busy most often, of {polls} polls: {most}') + busy = self.busy_threads() + polls += 1 + seen.update(busy) + quiet = 0 if busy else quiet + 1 + if quiet < idle_polls: + time.sleep(period) + + +class LockstepPlayer: + """Publish a bag's messages, each sensor message once the pipeline is idle. + + Several bags (a list) are played one after the other, as `ros2 bag play` of each in + turn would: the recordings of a session split in parts. + """ + + def __init__(self, node: Node, bag_dir, tree: ProcessTree, lookahead: float = 0.2): + self.node = node + self.bag_dirs = [bag_dir] if isinstance(bag_dir, str) else list(bag_dir) + self.tree = tree + self.lookahead = lookahead + self.gated: Set[str] = set() + self._publishers = {} + self._types = {} + self._clock = node.create_publisher(Clock, '/clock', 10) + self._extra = [] # (release time, serialized TFMessage) + self._extra_tf = node.create_publisher( + TFMessage, '/tf', QoSProfile(depth=100, history=HistoryPolicy.KEEP_LAST, + reliability=ReliabilityPolicy.RELIABLE)) + + metas = {} + for bag in self.bag_dirs: + for meta in self._open(bag).get_all_topics_and_types(): + metas.setdefault(meta.name, meta) + for meta in metas.values(): + name = meta.name if meta.name.startswith('/') else '/' + meta.name + # Durability as recorded, as ros2 bag play does: a subscriber asking for + # TRANSIENT_LOCAL is not matched with a VOLATILE publisher (image_proc's, for + # camera info, with Fast DDS since lyrical). Always reliable, and deep, to + # lose nothing. + transient = name == '/tf_static' or _recorded_transient_local(meta.offered_qos_profiles) + qos = QoSProfile(depth=100, history=HistoryPolicy.KEEP_LAST, + reliability=ReliabilityPolicy.RELIABLE, + durability=(DurabilityPolicy.TRANSIENT_LOCAL if transient + else DurabilityPolicy.VOLATILE)) + self._publishers[meta.name] = ( + name, node.create_publisher(get_message(meta.type), name, qos)) + self._types[meta.name] = meta.type + + def add_trajectory(self, frame_id: str, child_frame_id: str, trajectory, + step: float = 0.25): + """Publish (stamp, (x y z qx qy qz qw)) poses as frame_id -> child_frame_id. + + The first and last poses are held to the bags' start and end, so that no lookup + falls outside of it: one would make the node wait for the transform, asleep, + looking idle. Poses are then added, interpolated as TF would (linearly, and by + slerp for the rotation), so that none are more than `step` seconds apart: TF + returns the same from them at any stamp. + + TF interpolates between two samples, so a lookup at a stamp needs the sample after + it: each is sent 2 * step ahead of its stamp. A node may still look a stamp up + late (rtabmap, an intermediate node when the next node with data arrives) and a + TF buffer keeps 10 s: the trajectory's own gaps can be several seconds (a robot + standing still adds no nodes), and a lead covering them would leave it no slack. + """ + spans = [] + for bag in self.bag_dirs: + metadata = self._open(bag).get_metadata() + begin = metadata.starting_time.nanoseconds / 1e9 + spans.append((begin, begin + metadata.duration.nanoseconds / 1e9)) + start, end = min(s for s, _ in spans), max(e for _, e in spans) + trajectory = sorted(trajectory) + if not trajectory: + return + trajectory = [(start, trajectory[0][1])] + trajectory + [(end, trajectory[-1][1])] + stamps = np.array([stamp for stamp, _ in trajectory]) + poses = np.array([pose for _, pose in trajectory]) + stamps, unique = np.unique(stamps, return_index=True) + poses = poses[unique] + dense = np.union1d(stamps, np.arange(stamps[0], stamps[-1], step)) + xyz = np.stack([np.interp(dense, stamps, poses[:, k]) for k in range(3)], axis=1) + quaternions = Slerp(stamps, Rotation.from_quat(poses[:, 3:]))(dense).as_quat() + lead = 2 * step + for stamp, (x, y, z), (qx, qy, qz, qw) in zip(dense, xyz, quaternions): + ns = int(round(stamp * 1e9)) + msg = TransformStamped() + msg.header.stamp = _to_time(ns) + msg.header.frame_id = frame_id + msg.child_frame_id = child_frame_id + t, r = msg.transform.translation, msg.transform.rotation + t.x, t.y, t.z, r.x, r.y, r.z, r.w = x, y, z, qx, qy, qz, qw + self._extra.append( + (ns - int(lead * 1e9), serialize_message(TFMessage(transforms=[msg])))) + + @staticmethod + def _open(bag_dir: str): + reader = rosbag2_py.SequentialReader() + reader.open(rosbag2_py.StorageOptions(uri=bag_dir, storage_id='sqlite3'), + rosbag2_py.ConverterOptions('cdr', 'cdr')) + return reader + + def connect(self, required: List[str], timeout: float = 60.0): + """Wait for the pipeline to subscribe, then choose which topics to gate. + + A reliable publisher still loses what it publishes before discovery has + matched it with a subscriber. Only topics something subscribes to are gated: + waiting after a message nobody reads would only slow the replay down. + """ + deadline = time.monotonic() + timeout + by_name = {name: pub for name, pub in self._publishers.values()} + for topic in required: + while by_name[topic].get_subscription_count() == 0: + if time.monotonic() > deadline: + raise TimeoutError(f'nothing subscribed to {topic} after {timeout:.0f} s') + time.sleep(0.1) + # Subscribers to the other topics are created by the same nodes, in the same + # constructors; leave discovery a moment to catch up with them too. + time.sleep(2.0) + + def wait_matched(name, publisher): + while publisher.get_subscription_count() < self.node.count_subscribers(name): + if time.monotonic() > deadline: + # Usually a subscriber asking for a QoS this publisher cannot offer. + subscribers = '\n'.join( + f' {info.node_namespace.rstrip("/")}/{info.node_name}: ' + f'{info.qos_profile.reliability.name}, ' + f'{info.qos_profile.durability.name}, ' + f'{info.qos_profile.history.name} {info.qos_profile.depth}' + for info in self.node.get_subscriptions_info_by_topic(name)) + raise TimeoutError( + f'{name} matched with {publisher.get_subscription_count()} of its ' + f'{self.node.count_subscribers(name)} subscribers:\n{subscribers}') + time.sleep(0.1) + + # Discovery may not have found every subscriber yet, and what is published before + # a subscriber is matched never reaches it: the first transforms of the bag, say, + # which the first frames need. Wait until the subscribers this node knows of, and + # those each publisher is matched with, have not changed for a while. + def counts(): + return tuple((self.node.count_subscribers(name), publisher.get_subscription_count()) + for name, publisher in list(self._publishers.values()) + + [('/tf', self._extra_tf)]) + + stable_since, last = time.monotonic(), counts() + while time.monotonic() - stable_since < 2.0: + if time.monotonic() > deadline: + raise TimeoutError('discovery did not settle') + time.sleep(0.1) + current = counts() + if current != last: + stable_since, last = time.monotonic(), current + + for bag_topic, (name, publisher) in self._publishers.items(): + if self.node.count_subscribers(name) > 0: + # TF too: the first frames' transforms would otherwise be lost, or not, + # depending on when discovery got there. + wait_matched(name, publisher) + if self._types[bag_topic] in GATED_TYPES: + self.gated.add(bag_topic) + wait_matched('/tf', self._extra_tf) + + def play(self, progress: Optional[Callable[[int, int], None]] = None, + idle_timeout: float = 300.0) -> int: + """Publish the whole bag(s); returns the number of gated messages published.""" + pending = [] # (release time, sequence, topic, data, bag time) + sequence = 0 + for release_ns, data in self._extra: + heapq.heappush(pending, (release_ns, sequence, None, data, release_ns)) + sequence += 1 + clock_ns = 0 + published = 0 + gated_total = self._count_gated() + + def release(until_ns): + nonlocal clock_ns, published + while pending and pending[0][0] <= until_ns: + _, _, topic, data, t = heapq.heappop(pending) + if topic is None: + self._extra_tf.publish(data) + continue + _, publisher = self._publishers[topic] + if topic in self.gated: + # Also lets the TF listeners take in the TF released so far, before + # the frame needing it arrives: a node waiting for a transform + # sleeps, which would look idle. + self.tree.wait_idle(timeout=idle_timeout) + if t > clock_ns: + clock_ns = t + self._clock.publish(Clock(clock=_to_time(clock_ns))) + publisher.publish(data) + published += 1 + if progress: + progress(published, gated_total) + else: + publisher.publish(data) + + lookahead_ns = int(self.lookahead * 1e9) + for bag in self.bag_dirs: + reader = self._open(bag) + while reader.has_next(): + topic, data, t = _read_next(reader) + # Sensor data is held back by the lookahead, so the TF of the next + # lookahead seconds goes out before it. + delay = lookahead_ns if topic in self.gated else 0 + heapq.heappush(pending, (t + delay, sequence, topic, data, t)) + sequence += 1 + release(t) + release(float('inf')) + # A longer quiet than between two messages, for the last one. A node polling for + # its messages on a fast timer is never quiet that long (find_object_2d with + # Camera/4imageRate 0, as fast as possible: set a rate instead). + self.tree.wait_idle(idle_polls=50, timeout=idle_timeout) + return published + + def play_chunked(self, done_stamp: Callable[[], float], chunk: float = 10.0, + slack: float = 2.0, stall_timeout: float = 30.0, rate: float = 1.0, + progress: Optional[Callable[[int, int], None]] = None) -> int: + """Publish the whole bag(s) at their own pace (times `rate`), `chunk` seconds at a + time. + + As `ros2 bag play`, but after each chunk, wait until the pipeline has caught up: + until done_stamp() (the stamp, in seconds, of the last output of its last node, + rtabmap's info for instance) is within `slack` seconds of the last sensor message + published. Waiting fails if done_stamp() stops moving for `stall_timeout` seconds, + as when a node crashed. Faster than play(), with no idle polling; but within a + chunk, a node slower than real time builds up a backlog in its queue, which must + be deep enough to hold it. Returns the number of gated messages published. + """ + pending = [] # (release time, sequence, topic, data, bag time) + sequence = 0 + for release_ns, data in self._extra: + heapq.heappush(pending, (release_ns, sequence, None, data, release_ns)) + sequence += 1 + state = {'clock_ns': 0, 'published': 0, 'last_sensor_ns': 0, 'pace': None} + gated_total = self._count_gated() + chunk_ns = int(chunk * 1e9) + lookahead_ns = int(self.lookahead * 1e9) + + def release(until_ns): + while pending and pending[0][0] <= until_ns: + release_ns, _, topic, data, t = heapq.heappop(pending) + # The bag's pace: from the wall time the chunk started at. + if state['pace'] is None: + state['pace'] = (time.monotonic(), release_ns) + wall, start_ns = state['pace'] + delay = wall + (release_ns - start_ns) / 1e9 / rate - time.monotonic() + if delay > 0: + time.sleep(delay) + if topic is None: + self._extra_tf.publish(data) + continue + _, publisher = self._publishers[topic] + if topic in self.gated: + if t > state['clock_ns']: + state['clock_ns'] = t + self._clock.publish(Clock(clock=_to_time(t))) + publisher.publish(data) + state['last_sensor_ns'] = max(state['last_sensor_ns'], t) + state['published'] += 1 + if progress: + progress(state['published'], gated_total) + else: + publisher.publish(data) + + def wait_caught_up(): + target = state['last_sensor_ns'] / 1e9 - slack + last, since = done_stamp(), time.monotonic() + while done_stamp() < target: + now, stamp = time.monotonic(), done_stamp() + if stamp != last: + last, since = stamp, now + elif now - since > stall_timeout: + raise TimeoutError( + f'the pipeline did not catch up: its last output is stamped ' + f'{stamp:.3f}, {target - stamp:.1f} s short of the last sensor ' + f'message published, and has not moved for {stall_timeout:.0f} s') + time.sleep(0.05) + state['pace'] = None # resume at the bag's pace from now + + chunk_end = None + for bag in self.bag_dirs: + reader = self._open(bag) + while reader.has_next(): + topic, data, t = _read_next(reader) + if chunk_end is None: + chunk_end = t + chunk_ns + elif t >= chunk_end: + release(chunk_end) + wait_caught_up() + chunk_end += chunk_ns + delay = lookahead_ns if topic in self.gated else 0 + heapq.heappush(pending, (t + delay, sequence, topic, data, t)) + sequence += 1 + release(t) + release(float('inf')) + wait_caught_up() + return state['published'] + + def _count_gated(self) -> int: + return sum(t.message_count + for bag in self.bag_dirs + for t in self._open(bag).get_metadata().topics_with_message_count + if t.topic_metadata.name in self.gated) + + +def _to_time(ns: int): + from builtin_interfaces.msg import Time + return Time(sec=ns // 1000000000, nanosec=ns % 1000000000) diff --git a/rtabmap_demos/test/data/.gitignore b/rtabmap_demos/test/data/.gitignore new file mode 100644 index 00000000..f6f5b4a5 --- /dev/null +++ b/rtabmap_demos/test/data/.gitignore @@ -0,0 +1,4 @@ +# Fetched by ../fetch_test_data.sh; only the manifest is committed. +* +!.gitignore +!manifest.txt diff --git a/rtabmap_demos/test/data/manifest.txt b/rtabmap_demos/test/data/manifest.txt new file mode 100644 index 00000000..d5f3fe4d --- /dev/null +++ b/rtabmap_demos/test/data/manifest.txt @@ -0,0 +1,26 @@ +# Test data assets fetched by rtabmap_demos/test/fetch_test_data.sh. +# Format: \t\t[\t] +# - basename is the file's name on disk under this directory. +# - url is a full http(s):// URL; the bags are assets of the rtabmap_ros GitHub releases. +# - sha256 must match the bytes of the file the tests read (compute with +# `sha256sum file.db3`), which for an archive is the file it holds rather than +# the archive itself: a corrupt archive is caught by the extractor. Leave as +# 3a55cb8344e5d555459da5fc3a9ab55ceaad8a0c6bef8d8ac6fff6cc65c8b614 to bypass the integrity check on first download then paste +# the actual hash back in. +# - extracted is optional and only for archives (.zip): the file the archive holds, +# relative to this directory. A bag archive holds a whole bag directory (the .db3 +# and its metadata.yaml); the .db3 is the file named here. The archive is removed +# once extracted, so this file is both what the sha256 is of and what tells the +# script the asset is already there. +# +# Lines starting with '#' and blank lines are ignored. +demo_mapping_bag.zip https://github.com/introlab/rtabmap_ros/releases/download/0.23.13/demo_mapping_bag.zip b233777634dea8207677d7a76d76718b43bc7043f03d061f6c332f12a9e07be8 demo_mapping_bag/demo_mapping.db3 +stereo_outdoorA_bag.zip https://github.com/introlab/rtabmap_ros/releases/download/0.23.13/stereo_outdoorA_bag.zip e63533a750cfd02bff1640d140552c002264f31802baf9d0182c4140749cd45d stereo_outdoorA_bag/stereo_outdoorA.db3 +stereo_outdoorB_bag.zip https://github.com/introlab/rtabmap_ros/releases/download/0.23.13/stereo_outdoorB_bag.zip 3a55cb8344e5d555459da5fc3a9ab55ceaad8a0c6bef8d8ac6fff6cc65c8b614 stereo_outdoorB_bag/stereo_outdoorB.db3 +netherdrone_ouster_vertige_bag_0.zip https://github.com/introlab/rtabmap_ros/releases/download/0.23.13/netherdrone_ouster_vertige_bag_0.zip f603088fb975a982f6e8d1f7c06b4c806eb9e97b6ba81d09eb42f07e85579402 netherdrone_ouster_vertige_bag_0/netherdrone_ouster_vertige_bag_0.db3 +netherdrone_ouster_vertige_bag_1.zip https://github.com/introlab/rtabmap_ros/releases/download/0.23.13/netherdrone_ouster_vertige_bag_1.zip 2e7983e055164ae88464af1295c0f16c8d7e81faecfd4c489f0c8c773a95bba0 netherdrone_ouster_vertige_bag_1/netherdrone_ouster_vertige_bag_1.db3 +netherdrone_ouster_vertige_bag_2.zip https://github.com/introlab/rtabmap_ros/releases/download/0.23.13/netherdrone_ouster_vertige_bag_2.zip 809f6008f4ea946f30767a962f02e05557070f897992fc9137821a6f924a8c92 netherdrone_ouster_vertige_bag_2/netherdrone_ouster_vertige_bag_2.db3 +netherdrone_ouster_vertige_bag_3.zip https://github.com/introlab/rtabmap_ros/releases/download/0.23.13/netherdrone_ouster_vertige_bag_3.zip 491ea215522e844a898e4e3875c85bcc7e8a67728ff5239afefc8ffe20d9d1ee netherdrone_ouster_vertige_bag_3/netherdrone_ouster_vertige_bag_3.db3 +netherdrone_ouster_vertige_bag_4.zip https://github.com/introlab/rtabmap_ros/releases/download/0.23.13/netherdrone_ouster_vertige_bag_4.zip 841b11ee7c0412f6add481f1da31930bfbdbfea634edeb5b8ebc2eb1705d4ea0 netherdrone_ouster_vertige_bag_4/netherdrone_ouster_vertige_bag_4.db3 +netherdrone_ouster_vertige_bag_5.zip https://github.com/introlab/rtabmap_ros/releases/download/0.23.13/netherdrone_ouster_vertige_bag_5.zip 7052f7d54ac632436d4fa4e443d8be40cd92f9271204c90d7c3c09e919b69861 netherdrone_ouster_vertige_bag_5/netherdrone_ouster_vertige_bag_5.db3 +demo_find_object_bag.zip https://github.com/introlab/rtabmap_ros/releases/download/0.23.13/demo_find_object_bag.zip d4b37af28153b1dbd0649c91e004b342044c7268fb179aa3428a345f08da8691 demo_find_object_bag/demo_find_object.db3 diff --git a/rtabmap_demos/test/fetch_test_data.sh b/rtabmap_demos/test/fetch_test_data.sh new file mode 100755 index 00000000..63527534 --- /dev/null +++ b/rtabmap_demos/test/fetch_test_data.sh @@ -0,0 +1,127 @@ +#!/usr/bin/env bash +# Fetch the bags the demo playback tests replay, as listed in data/manifest.txt. +# Same manifest format as rtabmap's scripts/fetch_test_data.sh. An entry with a +# fourth column is a .zip, which is extracted into the data directory and then +# removed, its SHA-256 being the one of the file it holds. Skips files that are +# already present and whose SHA-256 matches the manifest. +# +# Usage: fetch_test_data.sh [basename...] +# With no argument, fetches every entry of the manifest; otherwise only the named +# ones (e.g. stereo_outdoorA_bag.zip), so a job can fetch just what it replays. +# +# The data goes next to the manifest, unless RTABMAP_DEMOS_TEST_DATA names another +# directory (a CI cache, or a disk with room: the bags are several GB). The tests +# read the same variable. +set -euo pipefail + +SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)" +MANIFEST="${SCRIPT_DIR}/data/manifest.txt" +DEST_DIR="${RTABMAP_DEMOS_TEST_DATA:-${SCRIPT_DIR}/data}" + +if [[ ! -f "$MANIFEST" ]]; then + echo "Error: manifest not found at $MANIFEST" >&2 + exit 1 +fi +mkdir -p "$DEST_DIR" + +sha256_of() { sha256sum "$1" | awk '{print $1}'; } + +# unzip where there is one, python3's zipfile where there is not (slim ROS images). +extract_zip() { + local archive="$1" + if command -v unzip >/dev/null 2>&1; then + unzip -o -q "$archive" -d "$DEST_DIR" + else + python3 -m zipfile -e "$archive" "$DEST_DIR" + fi +} + +verify_sha() { + local file="$1" expected="$2" + if [[ "$expected" == "TODO_FILL_SHA256" || -z "$expected" ]]; then + echo " (no SHA in manifest yet for $file; skipping integrity check)" >&2 + echo " sha256: $(sha256_of "$file")" >&2 + return 0 + fi + local actual + actual="$(sha256_of "$file")" + if [[ "$actual" != "$expected" ]]; then + echo " SHA mismatch for $file: expected $expected, got $actual" >&2 + return 1 + fi +} + +wanted() { + local name="$1" + [[ $# -eq 0 || ${#REQUESTED[@]} -eq 0 ]] && return 0 + for r in "${REQUESTED[@]}"; do + [[ "$r" == "$name" ]] && return 0 + done + return 1 +} + +REQUESTED=("$@") +found=() + +while IFS=$'\t' read -r name url expected_sha extracted; do + name="${name%$'\r'}" + url="${url%$'\r'}" + expected_sha="${expected_sha%$'\r'}" + extracted="${extracted-}" + extracted="${extracted%$'\r'}" + # Skip comments and blank lines. + [[ -z "${name// }" || "$name" =~ ^# ]] && continue + wanted "$name" || continue + found+=("$name") + + target="$DEST_DIR/$name" + # An archive is not kept once it is extracted, so what has to be there, and + # what the sha is of, is the file it held. + kept="${extracted:-$name}" + if [[ -f "$DEST_DIR/$kept" ]] && verify_sha "$DEST_DIR/$kept" "$expected_sha" 2>/dev/null; then + echo "Already up-to-date: $kept" + continue + fi + + echo "Fetching $name <- $url" + # -L follows the redirect to the release storage, -f fails on HTTP errors, -S + # shows errors on stderr. Retries cover the odd dropped connection on a GB file, + # and -C - resumes a .partial an interrupted run left behind; the SHA check + # below catches a partial that does not belong to this file. + curl -fsSL --retry 3 --retry-delay 5 -C - "$url" -o "$target.partial" + + if [[ -z "$extracted" ]]; then + if ! verify_sha "$target.partial" "$expected_sha"; then + rm -f "$target.partial" + exit 1 + fi + mv -f "$target.partial" "$target" + else + mv -f "$target.partial" "$target" + echo " Extracting $name" + if ! extract_zip "$target"; then + rm -f "$target" + exit 1 + fi + # The archive has served its purpose, and these are large files. + rm -f "$target" + if [[ ! -f "$DEST_DIR/$extracted" ]]; then + echo " $name does not hold $extracted" >&2 + exit 1 + fi + if ! verify_sha "$DEST_DIR/$extracted" "$expected_sha"; then + rm -f "$DEST_DIR/$extracted" + exit 1 + fi + echo " Extracted $extracted ($(du -h "$DEST_DIR/$extracted" | cut -f1))" + fi +done < "$MANIFEST" + +for r in "${REQUESTED[@]}"; do + if [[ ! " ${found[*]} " == *" $r "* ]]; then + echo "Error: $r is not in $MANIFEST" >&2 + exit 1 + fi +done + +echo "Test data ready under $DEST_DIR" diff --git a/rtabmap_demos/test/golden/find_object.g2o b/rtabmap_demos/test/golden/find_object.g2o new file mode 100644 index 00000000..5d55b6ad --- /dev/null +++ b/rtabmap_demos/test/golden/find_object.g2o @@ -0,0 +1,705 @@ +PARAMS_SE2OFFSET 0 0 0 0 +VERTEX_XY 313 -1.531281 0.743078 +VERTEX_XY 312 2.683548 8.495893 +VERTEX_XY 311 12.425310 5.129662 +VERTEX_XY 310 -0.407023 -2.934078 +VERTEX_XY 309 2.954635 -1.946379 +VERTEX_SE2 1 -0.018821 0.001903 -0.094178 +VERTEX_SE2 16 0.010280 0.004205 -0.092277 +VERTEX_SE2 17 0.087373 0.000889 -0.093239 +VERTEX_SE2 19 0.296141 -0.013923 -0.238247 +VERTEX_SE2 20 0.429407 -0.052602 -0.453230 +VERTEX_SE2 21 0.553080 -0.128367 -0.666646 +VERTEX_SE2 22 0.700719 -0.241444 -0.699778 +VERTEX_SE2 23 0.881329 -0.384736 -0.649958 +VERTEX_SE2 24 1.068297 -0.478649 -0.392923 +VERTEX_SE2 25 1.272805 -0.542910 -0.340494 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0.975851 0.217590 +VERTEX_SE3:QUAT 1893 9.506453 8.772866 2.604552 -0.006743 0.008994 0.976311 0.216080 +VERTEX_SE3:QUAT 1894 9.447280 8.773196 2.599454 -0.001540 0.006946 0.976335 0.216149 +VERTEX_SE3:QUAT 1895 9.404823 8.766205 2.605125 0.000624 0.008814 0.976375 0.215903 +VERTEX_SE3:QUAT 1896 9.366632 8.761128 2.603862 0.006214 0.009280 0.976663 0.214488 +VERTEX_SE3:QUAT 1897 9.324246 8.744655 2.597649 0.005942 0.010923 0.976614 0.214640 +VERTEX_SE3:QUAT 1898 9.287309 8.735253 2.594779 0.000059 0.016489 0.976768 0.213666 +VERTEX_SE3:QUAT 1899 9.257071 8.714296 2.579121 0.001244 0.025692 0.977033 0.211531 +VERTEX_SE3:QUAT 1900 9.232319 8.702426 2.579726 0.004629 0.034895 0.977308 0.208878 +VERTEX_SE3:QUAT 1901 9.216199 8.689006 2.572299 0.011468 0.040284 0.977669 0.205933 +VERTEX_SE3:QUAT 1902 9.207395 8.686301 2.565454 0.013028 0.035831 0.978488 0.202748 +VERTEX_SE3:QUAT 1903 9.197977 8.677487 2.562411 0.010021 0.023439 0.979360 0.200509 +VERTEX_SE3:QUAT 1904 9.198556 8.666865 2.565956 0.009209 0.018594 0.979953 0.198145 +VERTEX_SE3:QUAT 1905 9.206834 8.661826 2.563990 0.009671 0.024714 0.980822 0.193093 +VERTEX_SE3:QUAT 1906 9.216857 8.645960 2.575249 0.008251 0.033052 0.981886 0.186386 +VERTEX_SE3:QUAT 1907 9.237443 8.645290 2.582594 0.007735 0.039192 0.983321 0.177437 +VERTEX_SE3:QUAT 1908 9.260525 8.643302 2.588339 0.001972 0.033804 0.984353 0.172925 +VERTEX_SE3:QUAT 1909 9.287738 8.640960 2.595845 -0.009561 0.022634 0.984763 0.172158 +VERTEX_SE3:QUAT 1910 9.311493 8.642525 2.591164 -0.017190 0.015363 0.984710 0.172670 +VERTEX_SE3:QUAT 1911 9.330303 8.645975 2.591911 -0.020613 0.012831 0.984343 0.174582 +VERTEX_SE3:QUAT 1912 9.361579 8.635538 2.593517 -0.022126 0.014338 0.984148 0.175377 +VERTEX_SE3:QUAT 1913 9.378852 8.637937 2.593182 -0.021223 0.017826 0.983937 0.176351 +VERTEX_SE3:QUAT 1914 9.401759 8.643181 2.597039 -0.020148 0.018447 0.983922 0.176500 +VERTEX_SE3:QUAT 1915 9.425976 8.645862 2.595283 -0.020790 0.017681 0.984023 0.175938 +VERTEX_SE3:QUAT 1916 9.440393 8.655523 2.592185 -0.020378 0.015730 0.984016 0.176209 +VERTEX_SE3:QUAT 1917 9.461453 8.661262 2.597424 -0.020125 0.012549 0.984218 0.175361 +VERTEX_SE3:QUAT 1918 9.482267 8.664485 2.593352 -0.019458 0.009076 0.984413 0.174559 +VERTEX_SE3:QUAT 1919 9.509049 8.661903 2.602400 -0.019916 0.000442 0.984686 0.173196 +VERTEX_SE3:QUAT 1920 9.523687 8.668199 2.598963 -0.018654 -0.001844 0.984854 0.172372 +VERTEX_SE3:QUAT 1921 9.545362 8.661826 2.596023 -0.016986 0.004333 0.984866 0.172430 +VERTEX_SE3:QUAT 1922 9.563023 8.658073 2.595975 -0.016825 0.010917 0.984755 0.172786 +VERTEX_SE3:QUAT 1923 9.579421 8.651129 2.599830 -0.017440 0.015666 0.984675 0.172817 +VERTEX_SE3:QUAT 1924 9.593328 8.642365 2.597513 -0.017908 0.019318 0.984544 0.173144 +VERTEX_SE3:QUAT 1925 9.611722 8.630641 2.592812 -0.018463 0.019691 0.984611 0.172663 +VERTEX_SE3:QUAT 1926 9.622510 8.623418 2.574463 -0.018820 0.020297 0.984610 0.172561 +VERTEX_SE3:QUAT 1927 9.635910 8.618200 2.571371 -0.020026 0.016953 0.984845 0.171438 +VERTEX_SE3:QUAT 1928 9.651035 8.607473 2.568529 -0.019706 0.011943 0.985150 0.170144 +VERTEX_SE3:QUAT 1929 9.660130 8.600563 2.555644 -0.020064 0.009833 0.985257 0.169615 +VERTEX_SE3:QUAT 1930 9.677770 8.590176 2.549640 -0.020677 0.009799 0.985367 0.168906 +VERTEX_SE3:QUAT 1931 9.685431 8.581017 2.539154 -0.017216 0.011559 0.985593 0.167860 +VERTEX_SE3:QUAT 1932 9.694098 8.565934 2.512230 -0.020109 0.012487 0.985526 0.167864 +VERTEX_SE3:QUAT 1933 9.707587 8.552842 2.508126 -0.022727 0.016052 0.985568 0.166980 +VERTEX_SE3:QUAT 1934 9.712455 8.538795 2.498738 -0.025296 0.021673 0.985334 0.167356 +VERTEX_SE3:QUAT 1935 9.723729 8.527998 2.504420 -0.027967 0.028597 0.985233 0.166484 +VERTEX_SE3:QUAT 1936 9.725417 8.518292 2.475585 -0.026103 0.024730 0.985272 0.167172 +VERTEX_SE3:QUAT 1937 9.732660 8.511133 2.478137 -0.024558 0.018955 0.985434 0.167205 +VERTEX_SE3:QUAT 1938 9.732740 8.500908 2.458044 -0.020294 0.018267 0.985477 0.167599 +VERTEX_SE3:QUAT 1939 9.736384 8.497949 2.459395 -0.016669 0.026289 0.985568 0.166396 +VERTEX_SE3:QUAT 1940 9.740669 8.489213 2.459491 -0.016021 0.042693 0.985168 0.165420 +VERTEX_SE3:QUAT 1941 9.744186 8.488951 2.458243 -0.013694 0.056263 0.984717 0.164252 +VERTEX_SE3:QUAT 1942 9.753019 8.500528 2.469068 -0.012877 0.063646 0.984388 0.163594 +VERTEX_SE3:QUAT 1943 9.765160 8.520999 2.495813 -0.012368 0.061800 0.984680 0.162583 +VERTEX_SE3:QUAT 1944 9.780145 8.555161 2.511872 -0.013923 0.046574 0.985540 0.162318 +VERTEX_SE3:QUAT 1945 9.789550 8.577514 2.523260 -0.015755 0.023417 0.985981 0.164453 +VERTEX_SE3:QUAT 1946 9.806726 8.620763 2.535982 -0.018084 0.003679 0.986158 0.164777 +VERTEX_SE3:QUAT 1947 9.812300 8.635884 2.542790 -0.019735 -0.008271 0.985797 0.166575 +VERTEX_SE3:QUAT 1948 9.824038 8.642722 2.541557 -0.023910 -0.009305 0.985727 0.166385 +VERTEX_SE3:QUAT 1949 9.829247 8.662556 2.538355 -0.030038 -0.001168 0.985720 0.165686 +VERTEX_SE3:QUAT 1950 9.830266 8.654654 2.537100 -0.036366 0.008187 0.985267 0.166912 +VERTEX_SE3:QUAT 1951 9.828328 8.683582 2.538082 -0.040068 0.015303 0.985188 0.166027 +VERTEX_SE3:QUAT 1952 9.823627 8.682992 2.536041 -0.041738 0.021257 0.984961 0.166309 +VERTEX_SE3:QUAT 1953 9.812172 8.702585 2.531218 -0.036000 0.023191 0.985321 0.165254 +VERTEX_SE3:QUAT 1954 9.790757 8.716624 2.531777 -0.029145 0.023359 0.985537 0.165295 +VERTEX_SE3:QUAT 1955 9.770343 8.731057 2.527929 -0.018895 0.022363 0.985722 0.165814 +VERTEX_SE3:QUAT 1956 9.752057 8.750919 2.532183 -0.009886 0.018073 0.985955 0.165735 +VERTEX_SE3:QUAT 1957 9.731013 8.776153 2.525193 -0.005330 0.015497 0.985967 0.166134 +VERTEX_SE3:QUAT 1958 9.715010 8.793893 2.527357 -0.005165 0.014842 0.985951 0.166294 +VERTEX_SE3:QUAT 1959 9.709782 8.817793 2.528148 -0.006938 0.015132 0.985877 0.166643 +VERTEX_SE3:QUAT 1960 9.702435 8.838082 2.522783 -0.007950 0.015571 0.985919 0.166306 +VERTEX_SE3:QUAT 1961 9.692970 8.857769 2.521669 -0.008488 0.014977 0.986081 0.165369 +VERTEX_SE3:QUAT 1962 9.688608 8.874412 2.520409 -0.011954 0.015003 0.986161 0.164678 +VERTEX_SE3:QUAT 1963 9.674103 8.892488 2.517008 -0.014425 0.015457 0.986069 0.164986 +VERTEX_SE3:QUAT 1964 9.663754 8.905386 2.520889 -0.016600 0.019953 0.985974 0.164869 +VERTEX_SE3:QUAT 1965 9.661037 8.922579 2.525594 -0.016872 0.024247 0.985887 0.164786 +VERTEX_SE3:QUAT 1966 9.661981 8.948102 2.518301 -0.017247 0.022452 0.985904 0.164898 +VERTEX_SE3:QUAT 1967 9.651210 8.972828 2.507804 -0.012729 0.013219 0.986213 0.164459 +VERTEX_SE3:QUAT 1968 9.636607 8.998642 2.496685 -0.003675 -0.000249 0.986460 0.163961 +VERTEX_SE3:QUAT 1969 9.633964 9.016321 2.500999 0.007404 -0.011310 0.986453 0.163489 +VERTEX_SE3:QUAT 1970 9.630656 9.026751 2.499175 0.015507 -0.020390 0.986177 0.163706 +VERTEX_SE3:QUAT 1971 9.635708 9.025828 2.499906 0.016956 -0.022546 0.986047 0.164058 +VERTEX_SE3:QUAT 1972 9.642352 9.015834 2.490774 0.013246 -0.019125 0.986042 0.164863 +VERTEX_SE3:QUAT 1973 9.648795 9.003793 2.487653 0.004120 -0.006714 0.986045 0.166293 +VERTEX_SE3:QUAT 1974 9.657554 8.987504 2.494730 -0.003918 0.008559 0.985853 0.167349 +VERTEX_SE3:QUAT 1975 9.669394 8.976913 2.498898 -0.010034 0.021129 0.985689 0.166944 +VERTEX_SE3:QUAT 1976 9.678278 8.971021 2.507484 -0.013994 0.031104 0.985452 0.166498 +VERTEX_SE3:QUAT 1977 9.686573 8.966699 2.510203 -0.015690 0.031951 0.985334 0.166882 +VERTEX_SE3:QUAT 1978 9.692328 8.971910 2.517768 -0.015128 0.028212 0.985457 0.166883 +VERTEX_SE3:QUAT 1979 9.696382 8.976633 2.514895 -0.011949 0.020304 0.985579 0.167566 +VERTEX_SE3:QUAT 1980 9.703382 8.980226 2.539677 -0.010996 0.013637 0.985514 0.168687 +VERTEX_SE3:QUAT 1981 9.709399 8.985298 2.544608 -0.009308 0.010075 0.985305 0.170252 +VERTEX_SE3:QUAT 1982 9.712879 8.987213 2.551924 -0.008507 0.005716 0.985088 0.171743 +VERTEX_SE3:QUAT 1983 9.718616 8.994460 2.560677 -0.005722 0.006818 0.984973 0.172481 +VERTEX_SE3:QUAT 1984 9.725658 8.994390 2.576225 -0.004800 0.005900 0.984940 0.172728 +VERTEX_SE3:QUAT 1985 9.727145 8.995521 2.581064 -0.006600 0.006522 0.984967 0.172493 +VERTEX_SE3:QUAT 1986 9.730615 8.991459 2.594172 -0.008096 0.009707 0.985033 0.171903 +VERTEX_SE3:QUAT 1987 9.735244 8.980558 2.599120 -0.007334 0.011934 0.985035 0.171787 +VERTEX_SE3:QUAT 1988 9.739709 8.979239 2.609336 -0.008598 0.015391 0.985204 0.170475 +VERTEX_SE3:QUAT 1989 9.741379 8.977533 2.620797 -0.008548 0.017323 0.985153 0.170591 +VERTEX_SE3:QUAT 1990 9.745168 8.985466 2.632694 -0.010300 0.018198 0.985247 0.169857 +VERTEX_SE3:QUAT 1991 9.753046 8.983798 2.642100 -0.009261 0.019050 0.985198 0.170108 +VERTEX_SE3:QUAT 1992 9.752301 8.978823 2.641288 -0.008025 0.016754 0.985043 0.171307 +VERTEX_SE3:QUAT 1993 9.757837 8.981444 2.646467 -0.008245 0.013240 0.985190 0.170755 +VERTEX_SE3:QUAT 1994 9.758163 8.988286 2.653377 -0.008207 0.008144 0.985184 0.171113 +VERTEX_SE3:QUAT 1995 9.759131 8.987339 2.654730 -0.007579 0.008737 0.984834 0.173114 +VERTEX_SE3:QUAT 1996 9.760337 8.989423 2.658566 -0.007081 0.008207 0.984894 0.172820 +VERTEX_SE3:QUAT 1997 9.761591 8.988894 2.663692 -0.008011 0.007395 0.984733 0.173731 +VERTEX_SE3:QUAT 1998 9.756454 8.993718 2.667312 -0.007188 0.006640 0.984607 0.174509 +VERTEX_SE3:QUAT 1999 9.757772 8.986834 2.671494 -0.006833 0.007930 0.984498 0.175081 +VERTEX_SE3:QUAT 2000 9.758725 8.992780 2.677731 -0.005507 0.008277 0.984557 0.174780 +VERTEX_SE3:QUAT 2001 9.764502 8.998232 2.675306 -0.005926 0.009659 0.984718 0.173789 +VERTEX_SE3:QUAT 2002 9.760945 9.003913 2.675022 -0.006982 0.012069 0.984547 0.174563 +VERTEX_SE3:QUAT 2003 9.764441 9.006099 2.678834 -0.006933 0.012973 0.984452 0.175039 +VERTEX_SE3:QUAT 2004 9.766006 9.013527 2.671540 -0.010592 0.013293 0.984224 0.176109 +VERTEX_SE3:QUAT 2005 9.766783 9.021830 2.675457 -0.014373 0.012754 0.984382 0.174996 +VERTEX_SE3:QUAT 2006 9.768539 9.031116 2.669663 -0.017155 0.009495 0.984454 0.174543 +VERTEX_SE3:QUAT 2007 9.773034 9.041388 2.673990 -0.019487 0.007815 0.984585 0.173643 +VERTEX_SE3:QUAT 2008 9.765882 9.051197 2.670391 -0.020812 0.008597 0.984633 0.173181 +VERTEX_SE3:QUAT 2009 9.764397 9.064692 2.668325 -0.020542 0.008739 0.984854 0.171943 +VERTEX_SE3:QUAT 2010 9.755799 9.070342 2.665424 -0.019452 0.007749 0.984910 0.171798 +VERTEX_SE3:QUAT 2011 9.743592 9.073995 2.656851 -0.017747 0.006162 0.985083 0.171052 +VERTEX_SE3:QUAT 2012 9.738343 9.082312 2.655984 -0.017690 0.007424 0.985243 0.170085 +VERTEX_SE3:QUAT 2013 9.721104 9.087359 2.644141 -0.018036 0.008393 0.985208 0.170207 +VERTEX_SE3:QUAT 2014 9.703094 9.086774 2.637183 -0.018241 0.010287 0.985239 0.169899 +VERTEX_SE3:QUAT 2015 9.688385 9.092815 2.631751 -0.019725 0.012103 0.985374 0.168824 +VERTEX_SE3:QUAT 2016 9.668292 9.093357 2.633809 -0.017897 0.014207 0.985361 0.168943 +VERTEX_SE3:QUAT 2017 9.649150 9.098954 2.616786 -0.017221 0.012855 0.985272 0.169638 +VERTEX_SE3:QUAT 2018 9.626642 9.098167 2.617675 -0.018327 0.009525 0.985348 0.169298 +VERTEX_SE3:QUAT 2019 9.601075 9.100556 2.611394 -0.020124 0.009480 0.985252 0.169659 +VERTEX_SE3:QUAT 2020 9.574703 9.100120 2.604766 -0.022943 0.012414 0.985039 0.170344 +VERTEX_SE3:QUAT 2021 9.542042 9.098262 2.603159 -0.023818 0.018236 0.984813 0.171010 +VERTEX_SE3:QUAT 2022 9.513835 9.097363 2.600386 -0.024405 0.021221 0.984737 0.171019 +VERTEX_SE3:QUAT 2023 9.478240 9.100715 2.586704 -0.022767 0.023058 0.984733 0.171031 +VERTEX_SE3:QUAT 2024 9.440671 9.107127 2.579824 -0.021284 0.024580 0.984784 0.170712 +VERTEX_SE3:QUAT 2025 9.398273 9.110508 2.570379 -0.021899 0.024209 0.984728 0.171010 +VERTEX_SE3:QUAT 2026 9.361938 9.122168 2.569737 -0.021778 0.021633 0.984866 0.170577 +VERTEX_SE3:QUAT 2027 9.319506 9.131130 2.558274 -0.019516 0.016425 0.985050 0.170372 +VERTEX_SE3:QUAT 2028 9.276278 9.143227 2.549278 -0.019592 0.012392 0.985174 0.169983 +VERTEX_SE3:QUAT 2029 9.232175 9.149204 2.535415 -0.019053 0.012482 0.985257 0.169558 +VERTEX_SE3:QUAT 2030 9.186091 9.159004 2.530125 -0.019644 0.014631 0.985260 0.169300 +VERTEX_SE3:QUAT 2031 9.136817 9.161843 2.519785 -0.019331 0.015872 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0.000000 475.493944 0.000000 0.000000 0.000000 4754.939435 0.000000 0.000000 4754.939435 0.000000 4754.939435 0 +EDGE_SE3:QUAT 1978 1979 -0.002138 -0.005923 -0.002718 -0.007247 -0.004474 -0.000683 0.999964 495.148564 0.000000 0.000000 0.000000 0.000000 0.000000 495.148564 0.000000 0.000000 0.000000 0.000000 495.148564 0.000000 0.000000 0.000000 4951.485639 0.000000 0.000000 4951.485639 0.000000 4951.485639 0 +EDGE_SE3:QUAT 1979 1980 -0.006148 -0.004799 0.024741 -0.006388 -0.002078 -0.001176 0.999977 496.734921 0.000000 0.000000 0.000000 0.000000 0.000000 496.734921 0.000000 0.000000 0.000000 0.000000 496.734921 0.000000 0.000000 0.000000 4967.349214 0.000000 0.000000 4967.349214 0.000000 4967.349214 0 +EDGE_SE3:QUAT 1980 1981 -0.004093 -0.006657 0.004926 -0.003197 -0.002283 -0.001595 0.999991 494.355577 0.000000 0.000000 0.000000 0.000000 0.000000 494.355577 0.000000 0.000000 0.000000 0.000000 494.355577 0.000000 0.000000 0.000000 4943.555766 0.000000 0.000000 4943.555766 0.000000 4943.555766 0 +EDGE_SE3:QUAT 1981 1982 -0.002771 -0.002836 0.007251 -0.004134 -0.001544 -0.001539 0.999989 494.835876 0.000000 0.000000 0.000000 0.000000 0.000000 494.835876 0.000000 0.000000 0.000000 0.000000 494.835876 0.000000 0.000000 0.000000 4948.358760 0.000000 0.000000 4948.358760 0.000000 4948.358760 0 +EDGE_SE3:QUAT 1982 1983 -0.003087 -0.008675 0.008715 0.001579 -0.002557 -0.000722 0.999995 509.459090 0.000000 0.000000 0.000000 0.000000 0.000000 509.459090 0.000000 0.000000 0.000000 0.000000 509.459090 0.000000 0.000000 0.000000 5094.590895 0.000000 0.000000 5094.590895 0.000000 5094.590895 0 +EDGE_SE3:QUAT 1983 1984 -0.006836 -0.002135 0.015431 -0.000736 -0.001068 -0.000249 0.999999 526.710001 0.000000 0.000000 0.000000 0.000000 0.000000 526.710001 0.000000 0.000000 0.000000 0.000000 526.710001 0.000000 0.000000 0.000000 5267.100008 0.000000 0.000000 5267.100008 0.000000 5267.100008 0 +EDGE_SE3:QUAT 1984 1985 -0.001047 -0.001508 0.004791 0.000308 0.001883 0.000227 0.999998 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0.000000 0.000000 0.000000 494.458208 0.000000 0.000000 0.000000 0.000000 494.458208 0.000000 0.000000 0.000000 4944.582085 0.000000 0.000000 4944.582085 0.000000 4944.582085 0 +EDGE_SE3:QUAT 1995 1996 -0.000468 -0.002301 0.003809 -0.000430 -0.000580 0.000300 1.000000 510.769102 0.000000 0.000000 0.000000 0.000000 0.000000 510.769102 0.000000 0.000000 0.000000 0.000000 510.769102 0.000000 0.000000 0.000000 5107.691018 0.000000 0.000000 5107.691018 0.000000 5107.691018 0 +EDGE_SE3:QUAT 1996 1997 -0.001420 0.000154 0.005045 -0.000945 0.000770 -0.000939 0.999999 482.087591 0.000000 0.000000 0.000000 0.000000 0.000000 482.087591 0.000000 0.000000 0.000000 0.000000 482.087591 0.000000 0.000000 0.000000 4820.875914 0.000000 0.000000 4820.875914 0.000000 4820.875914 0 +EDGE_SE3:QUAT 1997 1998 0.006434 -0.002717 0.003716 -0.000585 -0.000947 -0.000788 0.999999 487.644519 0.000000 0.000000 0.000000 0.000000 0.000000 487.644519 0.000000 0.000000 0.000000 0.000000 487.644519 0.000000 0.000000 0.000000 4876.445193 0.000000 0.000000 4876.445193 0.000000 4876.445193 0 +EDGE_SE3:QUAT 1998 1999 -0.003649 0.006070 0.004004 0.001345 -0.000127 -0.000572 0.999999 496.593628 0.000000 0.000000 0.000000 0.000000 0.000000 496.593628 0.000000 0.000000 0.000000 0.000000 496.593628 0.000000 0.000000 0.000000 4965.936283 0.000000 0.000000 4965.936283 0.000000 4965.936283 0 +EDGE_SE3:QUAT 1999 2000 0.001078 -0.005814 0.006277 0.000580 -0.001242 0.000319 0.999999 495.234856 0.000000 0.000000 0.000000 0.000000 0.000000 495.234856 0.000000 0.000000 0.000000 0.000000 495.234856 0.000000 0.000000 0.000000 4952.348559 0.000000 0.000000 4952.348559 0.000000 4952.348559 0 +EDGE_SE3:QUAT 2000 2001 -0.003490 -0.007128 -0.002426 0.001289 0.000662 0.001008 0.999998 491.399257 0.000000 0.000000 0.000000 0.000000 0.000000 491.399257 0.000000 0.000000 0.000000 0.000000 491.399257 0.000000 0.000000 0.000000 4913.992565 0.000000 0.000000 4913.992565 0.000000 4913.992565 0 +EDGE_SE3:QUAT 2001 2002 0.005312 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0.000000 0.000000 0.000000 0.000000 5.319202 0.000000 0.000000 0.000000 53.192018 0.000000 0.000000 53.192018 0.000000 53.192018 2 +EDGE_SE3:QUAT 2003 2004 0.001229 -0.007668 -0.007136 -0.000307 0.003644 -0.001133 0.999993 469.410484 0.000000 0.000000 0.000000 0.000000 0.000000 469.410484 0.000000 0.000000 0.000000 0.000000 469.410484 0.000000 0.000000 0.000000 4694.104837 0.000000 0.000000 4694.104837 0.000000 4694.104837 0 +EDGE_SE3:QUAT 2004 2005 0.002057 -0.007955 0.004112 -0.001201 0.003638 0.001073 0.999992 468.138916 0.000000 0.000000 0.000000 0.000000 0.000000 468.138916 0.000000 0.000000 0.000000 0.000000 468.138916 0.000000 0.000000 0.000000 4681.389161 0.000000 0.000000 4681.389161 0.000000 4681.389161 0 +EDGE_SE3:QUAT 2005 2006 0.001746 -0.009427 -0.005590 -0.003694 0.002172 0.000382 0.999991 480.263508 0.000000 0.000000 0.000000 0.000000 0.000000 480.263508 0.000000 0.000000 0.000000 0.000000 480.263508 0.000000 0.000000 0.000000 4802.635084 0.000000 0.000000 4802.635084 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+1415738266.976727 0.106615 0.045166 -0.000073 0.000881 -0.002174 0.019533 0.999806 +1415738268.039104 0.409184 0.059367 -0.002466 -0.001186 0.000729 0.001534 0.999998 +1415738269.101482 0.539304 0.059408 -0.002721 -0.002739 0.002421 -0.007578 0.999965 diff --git a/rtabmap_demos/test/graph_metrics.py b/rtabmap_demos/test/graph_metrics.py new file mode 100644 index 00000000..55dd4272 --- /dev/null +++ b/rtabmap_demos/test/graph_metrics.py @@ -0,0 +1,100 @@ +""" +A SLAM graph as the playback tests keep and compare it, exported from rtabmap's +database by rtabmap-export (export_graph): + .g2o the graph (--poses_format 4). OptimizerG2O::saveGraph() writes each + edge's link type as a column past the information matrix; that is + what tells the loop closures apart. + .tum the optimized poses with their stamps (--poses_format 10: stamp x y z + qx qy qz qw). The test replays a golden one as ground truth, from which + rtabmap computes the trajectory error itself (Gt/* statistics). +""" + +import shutil +import subprocess +from dataclasses import dataclass, field +from pathlib import Path +from typing import Dict, List, Set, Tuple + +import numpy as np + +# rtabmap::Link::Type +NEIGHBOR, GLOBAL_CLOSURE, LOCAL_SPACE_CLOSURE, LOCAL_TIME_CLOSURE = 0, 1, 2, 3 +LANDMARK = 8 + + +@dataclass +class Graph: + poses: Dict[int, Tuple[float, ...]] = field(default_factory=dict) # x y z qx qy qz qw + link_types: List[int] = field(default_factory=list) + # Vertices that are landmarks, not nodes: rtabmap-export writes them after the nodes, + # with positive ids, the ends of the landmark links. + landmarks: Set[int] = field(default_factory=set) + + @classmethod + def load(cls, g2o_path: str) -> 'Graph': + """Read the vertices and the edges' types; a 2D graph (Reg/Force3DoF) is SE2.""" + graph = cls() + # Fields each edge tag defines; the link type is the column after them. + edge_fields = {'EDGE_SE2': 12, 'EDGE_SE3:QUAT': 31} + with open(g2o_path) as f: + for line in f: + v = line.split() + if not v: + continue + if v[0] == 'VERTEX_SE3:QUAT': + graph.poses[int(v[1])] = tuple(float(x) for x in v[2:9]) + elif v[0] == 'VERTEX_SE2': + yaw = float(v[4]) + graph.poses[int(v[1])] = (float(v[2]), float(v[3]), 0.0, + 0.0, 0.0, np.sin(yaw / 2), np.cos(yaw / 2)) + elif v[0] in edge_fields: + n = edge_fields[v[0]] + link_type = int(v[n]) if len(v) > n else NEIGHBOR + graph.link_types.append(link_type) + if link_type == LANDMARK: + graph.landmarks.add(int(v[2])) + return graph + + def summary(self) -> dict: + ids = sorted(set(self.poses) - self.landmarks) + xyz = np.array([self.poses[i][:3] for i in ids]).reshape(-1, 3) + return { + 'nodes': len(ids), + 'landmarks': len(self.landmarks), + 'global_closures': sum(t == GLOBAL_CLOSURE for t in self.link_types), + 'local_closures': sum(t in (LOCAL_SPACE_CLOSURE, LOCAL_TIME_CLOSURE) + for t in self.link_types), + 'path_length': round(float(np.linalg.norm(np.diff(xyz, axis=0), axis=1).sum()), 2), + } + + +def export_graph(database: Path, prefix: Path): + """Write .g2o and .tum from an rtabmap database. + + The graph of every node in the database, optimized (--opt 0). Not the optimized poses + rtabmap saved when it closed (--opt 2): they are those of its local map only, without + the intermediate nodes, and are saved or not depending on how it closed, while + rtabmap-export falls back to optimizing every node when there are none. + """ + tool = shutil.which('rtabmap-export') + if tool is None: + raise FileNotFoundError('rtabmap-export not found on PATH (RTAB-Map built without ' + 'its tools?)') + out_dir = database.parent + for poses_format, extension, suffix in ((4, 'g2o', '.g2o'), (10, 'txt', '.tum')): + subprocess.run([tool, '--poses', '--poses_format', str(poses_format), '--opt', '0', + '--output_dir', str(out_dir), str(database)], + check=True, stdout=subprocess.DEVNULL, stderr=subprocess.PIPE, text=True) + exported = out_dir / f'{database.stem}_poses.{extension}' + exported.replace(str(prefix) + suffix) + + +def load_tum(path: str) -> List[Tuple[float, Tuple[float, ...]]]: + """(stamp, (x y z qx qy qz qw)) of each line of a TUM trajectory file.""" + trajectory = [] + with open(path) as f: + for line in f: + v = line.split() + if len(v) == 8 and not line.startswith('#'): + trajectory.append((float(v[0]), tuple(float(x) for x in v[1:]))) + return trajectory diff --git a/rtabmap_demos/test/test_demo_playback.py b/rtabmap_demos/test/test_demo_playback.py new file mode 100644 index 00000000..eb402b99 --- /dev/null +++ b/rtabmap_demos/test/test_demo_playback.py @@ -0,0 +1,401 @@ +""" +Replay a demo's bag through the demo's own launch file and compare the resulting +graph with a golden one. + +The golden trajectory is replayed in TF beside the bag as ground truth, so rtabmap +computes the error of its map against it itself, as it would for any ground truth +(Gt/* statistics, in /info). The loop closures are counted from the graph. + +The bag is played in lockstep with the pipeline (see bag_lockstep.py), so the result +does not depend on how loaded the machine is. Skipped when the bag has not been +fetched (test/fetch_test_data.sh): the bags are several GB. + +Environment: + RTABMAP_DEMOS_TEST_DATA where the bags are (default: test/data) + RTABMAP_DEMOS_TEST_RESULTS where each run's graph, database and launch log are kept + (default: a pytest temporary directory) + RTABMAP_DEMOS_UPDATE_GOLDEN set to 1 to write the run's graph as the new golden one + instead of comparing with it + RTABMAP_DEMOS_REPLAY lockstep (default): each sensor message once the pipeline is + idle; chunked: at the bag's pace, 10 s at a time, waiting + for rtabmap to catch up after each + RTABMAP_DEMOS_RATE with chunked: how many times the bag's pace (default 1) +""" + +import ctypes +import os +import shutil +import signal +import subprocess +import sys +import threading +import time +from dataclasses import dataclass, field +from pathlib import Path +from typing import Dict, List, Union + +import pytest +import yaml +import rclpy +from ament_index_python.packages import PackageNotFoundError, get_package_share_directory +from rclpy.executors import SingleThreadedExecutor +from rtabmap_msgs.msg import Info + +from bag_lockstep import LockstepPlayer, ProcessTree +from graph_metrics import Graph, export_graph, load_tum + +TEST_DIR = Path(__file__).resolve().parent +DATA_DIR = Path(os.environ.get('RTABMAP_DEMOS_TEST_DATA', TEST_DIR / 'data')) +# lockstep (default, see bag_lockstep.py) or chunked (LockstepPlayer.play_chunked()). +REPLAY = os.environ.get('RTABMAP_DEMOS_REPLAY', 'lockstep') +# chunked only: how many times the bag's own pace. +REPLAY_RATE = float(os.environ.get('RTABMAP_DEMOS_RATE', '1.0')) +GOLDEN_DIR = TEST_DIR / 'golden' +# The golden trajectory's frames in TF; unconnected to the robot's own tree. +GROUND_TRUTH_FRAME = 'golden_map' +GROUND_TRUTH_BASE_FRAME = 'golden_base' + + +@dataclass +class Scenario: + name: str + launch_file: str + bag: Union[str, List[str]] # several: played one after the other + # Topics the pipeline must have subscribed to before the replay can start. + required_topics: List[str] + launch_arguments: Dict[str, str] = field(default_factory=dict) + # ROS parameters set on every node the launch file starts (see _wrapper_launch()), for + # settings the launch file has no argument for. A node's own value for one wins. + parameters: Dict[str, object] = field(default_factory=dict) + # ROS parameters for one node, by node name, for a parameter name other nodes use too. + node_parameters: Dict[str, Dict[str, object]] = field(default_factory=dict) + # Packages the launch file needs besides ours: the scenario is skipped without them + # (not every ROS distro has them). + packages: List[str] = field(default_factory=list) + # With RTABMAP_DEMOS_REPLAY=chunked: how far rtabmap's last output may lag the last + # sensor message published, as it processes the data (seconds). + chunk_slack: float = 2.0 + # How far a run may be from the golden graph. + max_node_difference: float = 0.02 # relative + # Loop closures, global and local together, may be fewer than the golden graph's by + # this ratio of them, or by 2, whichever is more: from one run to the next, a closure + # more or less is noise, however few there are. Together, as a place revisited can be + # closed by either: in stereo_outdoor, 13 global and 9 local closures in one run, 15 + # and 5 in another. + closure_slack: float = 0.2 + # False when the scenario turns loop closure detection off, against a golden graph + # made with it. + compare_closures: bool = True + max_rmse: float = 0.05 # m, Gt/Translational_rmse + max_rotational_rmse: float = 1.0 # deg, Gt/Rotational_rmse + + def __str__(self): + return self.name + + +SCENARIOS = [ + Scenario( + name='robot_mapping', + launch_file='robot_mapping_demo.launch.py', + bag='demo_mapping_bag', + required_topics=['/jn0/base_scan', '/data_throttled_image/compressed'], + launch_arguments={'rtabmap_viz': 'false', 'rviz': 'false'}, + # Every image rgbd_sync makes reaches rtabmap: with a history of 1, the next one + # replaces one rtabmap has not received yet when it is busy. + parameters={'output_queue_size': 10}, + # How many frames rtabmap merges into the previous node (rehearsal) depends on + # its build (its optional dependencies): 205 nodes in CI against 210 here. Loop + # closures vary from run to run (11 to 13 global ones), and so the errors: + # 0.046-0.053 m and up to 1.22 deg. + max_node_difference=0.05, + max_rmse=0.1, + max_rotational_rmse=2.0), + Scenario( + name='stereo_outdoor', + launch_file='stereo_outdoor_demo.launch.py', + # Both parts of the run, played one after the other. + bag=['stereo_outdoorA_bag', 'stereo_outdoorB_bag'], + required_topics=['/stereo_camera/left/image_raw_throttle/compressed', + '/stereo_camera/right/image_raw_throttle/compressed'], + launch_arguments={'rtabmap_viz': 'false', 'rviz': 'false'}, + # As for netherdrone_lidar3d below: every pair stereo_sync makes reaches odometry + # and is registered (all 3741 of them on an idle machine). + parameters={'output_queue_size': 10, + 'always_process_most_recent_frame': False}, + # As for robot_mapping: with bag A alone, 161 nodes in CI against 185 here, and + # up to 3.06 deg. + max_node_difference=0.15, + max_rmse=0.1, + max_rotational_rmse=4.0), + Scenario( + name='netherdrone_lidar3d', + launch_file='netherdrone_lidar3d_demo.launch.py', + # The whole flight, its six parts played one after the other. + bag=[f'netherdrone_ouster_vertige_bag_{i}' for i in range(6)], + required_topics=['/os_cloud_node/points', '/imu/data_raw', + '/camera/image_raw/compressed', '/camera/camera_info'], + # A node is half a turn of the lidar's mast, about 4.4 s apart; the odometry + # poses in between are saved too (intermediate nodes), and compared as well. + launch_arguments={'rtabmap_viz': 'false', 'rviz': 'false', 'intermediate_nodes': 'true'}, + # Every scan reaches odometry, and is registered. By default odometry drops those + # arriving while it is busy (as when lidar_deskewing, waiting for a transform + # asleep, looks idle to the lockstep player), and lidar_deskewing replaces a scan + # odometry has not received yet with the next one: how many depends on the + # machine. output_queue_size also reaches rgb_sync, for the camera. topic_queue_size + # reaches only icp_odometry: rgb_sync and point_cloud_assembler already default + # to 10, and rtabmap sets its own. + parameters={'output_queue_size': 10, + 'topic_queue_size': 10, + 'always_process_most_recent_frame': False}, + # A node every 4.3 s, when the assembled cloud of half a turn of the mast is ready. + chunk_slack=5.0, + # Local closures only (no global ones: the camera's bag-of-words finds none), + # 25 in the golden graph, 19 in a Kilted CI run. + closure_slack=0.3, + max_rmse=0.1, + max_rotational_rmse=2.0, + max_node_difference=0.05), + Scenario( + name='find_object', + launch_file='find_object_demo.launch.py', + bag='demo_find_object_bag', + required_topics=['/base_scan', '/camera/data_throttled_image/compressed'], + launch_arguments={'rtabmap_viz': 'false', 'rviz': 'false', 'find_object_gui': 'false'}, + # As for robot_mapping, with the same pipeline (find_object_2d besides it). + parameters={'output_queue_size': 10}, + # Without loop closures (neither from the images nor by proximity), only odometry + # and the objects as landmarks constrain the map: how far it stays from the golden + # one, made with all of them, is what the landmarks are worth. 0.124 m and 1.06 + # deg with the landmarks, against 0.708 m without them. + node_parameters={'rtabmap': {'Kp/MaxFeatures': '-1', + 'RGBD/ProximityBySpace': 'false'}}, + compare_closures=False, + packages=['find_object_2d'], + max_node_difference=0.05, + max_rmse=0.2, + max_rotational_rmse=2.0), +] + + +# Every QoS parameter of rtabmap's nodes: reliable (1). Their default, the system's, is best +# effort for a subscriber with Fast DDS, which drops what arrives while the node is busy: +# the lockstep player cannot see that (see bag_lockstep.py). +RELIABLE_QOS = {name: 1 for name in ( + 'qos', 'qos_camera_info', 'qos_env_sensor', 'qos_global_pose', 'qos_gps', 'qos_image', + 'qos_imu', 'qos_odom', 'qos_pub', 'qos_scan', 'qos_scan_cloud', 'qos_sensor_data', + 'qos_sub', 'qos_user_data')} + + +def _wrapper_launch(scenario: Scenario, rtabmap_parameters: Dict[str, object], + arguments: Dict[str, str], path: Path) -> Path: + """Write a launch file that sets parameters on the demo's nodes, then includes the + demo's launch file with `arguments`. + + The parameters go in a parameter file next to it, which launch_ros' + SetParametersFromFile gives to every node launched after it, whatever launch file they + come from: each node reads its own section. RELIABLE_QOS and scenario.parameters are + for every node (/**), and `rtabmap_parameters` for the node named rtabmap only (/**/rtabmap): the + ground truth frames, which the odometry nodes also read. A node's own value for a + parameter, set by its launch file, wins over the file's. + """ + demo = Path(get_package_share_directory('rtabmap_demos')) / 'launch' / scenario.launch_file + parameter_file = path.with_suffix('.yaml') + # The nodes' own sections first: after /**, rcl would not apply /** to the other nodes. + sections = {f'/**/{node}': {'ros__parameters': dict(values)} + for node, values in scenario.node_parameters.items()} + rtabmap_section = sections.setdefault('/**/rtabmap', {'ros__parameters': {}}) + rtabmap_section['ros__parameters'].update(rtabmap_parameters) + sections['/**'] = {'ros__parameters': dict(RELIABLE_QOS, **scenario.parameters)} + parameter_file.write_text(yaml.safe_dump(sections, sort_keys=False)) + path.write_text( + 'from launch import LaunchDescription\n' + 'from launch.actions import IncludeLaunchDescription\n' + 'from launch.launch_description_sources import PythonLaunchDescriptionSource\n' + 'from launch_ros.actions import SetParametersFromFile\n' + '\n' + '\n' + 'def generate_launch_description():\n' + ' return LaunchDescription([\n' + f' SetParametersFromFile({str(parameter_file)!r}),\n' + f' IncludeLaunchDescription(PythonLaunchDescriptionSource({str(demo)!r}),\n' + f' launch_arguments={list(arguments.items())!r}),\n' + ' ])\n') + return path + + +def _stop(process: subprocess.Popen) -> bool: + """Stop `ros2 launch` the way Ctrl-C does, so rtabmap closes its database. + + Returns False if it had to be killed: rtabmap then did not close its database. + """ + if process.poll() is not None: + return True + os.killpg(process.pid, signal.SIGINT) + try: + process.wait(timeout=60) + return True + except subprocess.TimeoutExpired: + os.killpg(process.pid, signal.SIGKILL) + process.wait() + return False + + +# See bag_lockstep.py: publish() must have sent the message when it returns, in this +# process and in the demo's nodes alike. Read when each process initializes its RMW. +os.environ['RMW_FASTRTPS_PUBLICATION_MODE'] = 'SYNCHRONOUS' + + +def _die_with_parent(): + """In the launch process before exec: SIGINT it if the test process dies. + + The launch runs in a session of its own (so it can be stopped as a group); without + this, a test killed by a timeout would leave the demo running. + """ + PR_SET_PDEATHSIG = 1 + ctypes.CDLL('libc.so.6', use_errno=True).prctl(PR_SET_PDEATHSIG, signal.SIGINT) + + +def _replay(scenario: Scenario, bag: List[Path], results: Path, ground_truth=None): + """Replay the bag; returns the statistics of rtabmap's last update. + + rtabmap is stopped when this returns, its database closed with the optimized graph. + """ + # The database and the ground truth are for rtabmap only: the demos have no launch + # argument for them, they are set from the parameter file (see _wrapper_launch()). + rtabmap_parameters = {'database_path': str(results / 'rtabmap.db')} + if ground_truth: + rtabmap_parameters.update(ground_truth_frame_id=GROUND_TRUTH_FRAME, + ground_truth_base_frame_id=GROUND_TRUTH_BASE_FRAME) + arguments = dict(scenario.launch_arguments) + log = open(results / 'launch.log', 'w') + launch = subprocess.Popen( + ['ros2', 'launch', str(_wrapper_launch(scenario, rtabmap_parameters, arguments, + results / 'demo.launch.py'))], + stdout=log, stderr=subprocess.STDOUT, start_new_session=True, + preexec_fn=_die_with_parent) + context = rclpy.Context() + rclpy.init(context=context) + node = rclpy.create_node('demo_playback_test', context=context) + stats = {} + info_stamp = [0.0] + + def on_info(msg): + stats.clear() + stats.update(zip(msg.stats_keys, msg.stats_values)) + info_stamp[0] = max(info_stamp[0], msg.header.stamp.sec + msg.header.stamp.nanosec * 1e-9) + node.create_subscription(Info, '/info', on_info, 10) + executor = SingleThreadedExecutor(context=context) + executor.add_node(node) + spinner = threading.Thread(target=executor.spin, daemon=True) + spinner.start() + try: + tree = ProcessTree(launch.pid) + player = LockstepPlayer(node, [str(b) for b in bag], tree) + if ground_truth: + player.add_trajectory(GROUND_TRUTH_FRAME, GROUND_TRUTH_BASE_FRAME, ground_truth) + player.connect(scenario.required_topics) + nodes = {pid: Path(f'/proc/{pid}/comm').read_text().strip() for pid in tree.pids()} + print(f'\n{scenario.name}: {len(nodes)} processes ({", ".join(nodes.values())}), ' + f'gating {", ".join(sorted(player.gated))}', flush=True) + + start = time.monotonic() + last_report = [0.0] + + def progress(done, total): + # A node that died leaves the others idle forever: the replay would go on + # into nothing and only fail at the end. Stop at once instead. + if done % 100 == 0: + gone = [name for pid, name in nodes.items() if not Path(f'/proc/{pid}').exists()] + if gone: + raise RuntimeError(f'{", ".join(gone)} exited during the replay ' + f'(see {results / "launch.log"})') + now = time.monotonic() + if now - last_report[0] > 30 or done == total: + last_report[0] = now + print(f' {done}/{total} messages, {now - start:.0f} s', flush=True) + + if REPLAY == 'chunked': + player.play_chunked(lambda: info_stamp[0], slack=scenario.chunk_slack, + rate=REPLAY_RATE, progress=progress) + else: + player.play(progress=progress) + print(f' replayed in {time.monotonic() - start:.0f} s', flush=True) + result = dict(stats) + finally: + executor.shutdown() + node.destroy_node() + rclpy.shutdown(context=context) + spinner.join(timeout=10) + stopped = _stop(launch) + log.close() + if not stopped: + raise RuntimeError(f'{scenario.launch_file} did not stop within 60 s and was killed: ' + f'rtabmap did not close its database (see {results / "launch.log"})') + return result + + +@pytest.mark.parametrize('scenario', SCENARIOS, ids=str) +def test_demo_playback(scenario: Scenario, tmp_path): + for package in scenario.packages: + try: + get_package_share_directory(package) + except PackageNotFoundError: + pytest.skip(f'{package} is not installed') + bag = [DATA_DIR / name for name in + ([scenario.bag] if isinstance(scenario.bag, str) else scenario.bag)] + for b in bag: + if not b.is_dir(): + pytest.skip(f'{b} not found; fetch it with {TEST_DIR / "fetch_test_data.sh"}') + + results = Path(os.environ.get('RTABMAP_DEMOS_TEST_RESULTS', tmp_path)) / scenario.name + results.mkdir(parents=True, exist_ok=True) + golden_prefix = GOLDEN_DIR / scenario.name + update = os.environ.get('RTABMAP_DEMOS_UPDATE_GOLDEN') == '1' + if not update and not Path(str(golden_prefix) + '.g2o').is_file(): + pytest.fail(f'no golden graph {golden_prefix}.g2o; ' + 'run once with RTABMAP_DEMOS_UPDATE_GOLDEN=1 to create it') + + ground_truth = None if update else load_tum(str(golden_prefix) + '.tum') + stats = _replay(scenario, bag, results, ground_truth) + prefix = results / scenario.name + export_graph(results / 'rtabmap.db', prefix) + summary = Graph.load(str(prefix) + '.g2o').summary() + print(f' {summary}; graph exported to {prefix}.g2o', flush=True) + + if update: + GOLDEN_DIR.mkdir(exist_ok=True) + for suffix in ('.g2o', '.tum'): + shutil.copyfile(str(prefix) + suffix, str(golden_prefix) + suffix) + print(f' golden graph updated: {golden_prefix}.g2o', flush=True) + return + + expected = Graph.load(str(golden_prefix) + '.g2o').summary() + rmse = stats.get('Gt/Translational_rmse/m') + rotational_rmse = stats.get('Gt/Rotational_rmse/deg') + + problems = [] + if abs(summary['nodes'] - expected['nodes']) > scenario.max_node_difference * expected['nodes']: + problems.append(f'nodes: {summary["nodes"]}, golden {expected["nodes"]}') + if scenario.compare_closures: + closures, golden_closures = ( + g['global_closures'] + g['local_closures'] for g in (summary, expected)) + minimum = golden_closures - max(2, scenario.closure_slack * golden_closures) + if closures < minimum: + problems.append(f'loop closures (global and local): {closures}, golden ' + f'{golden_closures} (at least {minimum:.0f} expected)') + if rmse is None: + problems.append('rtabmap reported no Gt/* statistics: the golden trajectory did not ' + f'reach it as ground truth (see {results / "launch.log"})') + else: + if rmse > scenario.max_rmse: + problems.append(f'Gt/Translational_rmse: {rmse:.3f} m (max {scenario.max_rmse} m)') + if rotational_rmse > scenario.max_rotational_rmse: + problems.append(f'Gt/Rotational_rmse: {rotational_rmse:.2f} deg ' + f'(max {scenario.max_rotational_rmse} deg)') + print(f' vs golden {expected}: RMSE {rmse:.3f} m, {rotational_rmse:.2f} deg', + flush=True) + assert not problems, f'{scenario.name}:\n ' + '\n '.join(problems) + + +if __name__ == '__main__': + sys.exit(pytest.main([__file__, '-s', *sys.argv[1:]])) diff --git a/rtabmap_examples/CMakeLists.txt b/rtabmap_examples/CMakeLists.txt index 07ea312c..b55a2db9 100644 --- a/rtabmap_examples/CMakeLists.txt +++ b/rtabmap_examples/CMakeLists.txt @@ -7,4 +7,15 @@ install(DIRECTORY launch config DESTINATION share/${PROJECT_NAME} ) +if(BUILD_TESTING) + find_package(ament_cmake_pytest REQUIRED) + # rtabmap_launch's launch file test, on this package's installed launch files: each + # dry-run with each of its switches; nothing is started, so it needs no DDS domain of its + # own. Run from where rtabmap_launch installed it: no pytest cache written there. + find_package(rtabmap_launch REQUIRED) + ament_add_pytest_test(test_launch_files ${rtabmap_launch_DIR}/../test/test_launch_files.py + ENV RTABMAP_LAUNCH_TEST_PACKAGE=${PROJECT_NAME} "PYTEST_ADDOPTS=-p no:cacheprovider" + TIMEOUT 900) +endif() + ament_package() diff --git a/rtabmap_examples/README.md b/rtabmap_examples/README.md new file mode 100644 index 00000000..e9ed15bf --- /dev/null +++ b/rtabmap_examples/README.md @@ -0,0 +1,3 @@ +# rtabmap_examples + +Starting points for running RTAB-Map with your own sensor. Each launch file connects one camera or lidar driver (or a public dataset) to RTAB-Map's odometry and SLAM nodes with working parameters. Copy the one closest to your setup and adapt it. diff --git a/rtabmap_examples/launch/lidar3d_assemble.launch.py b/rtabmap_examples/launch/lidar3d_assemble.launch.py index 1fd3ef68..95045fa1 100644 --- a/rtabmap_examples/launch/lidar3d_assemble.launch.py +++ b/rtabmap_examples/launch/lidar3d_assemble.launch.py @@ -14,13 +14,20 @@ # # If a camera is used, make sure TF between lidar/base frame and camera is # already calibrated. To provide image data to this example, you should use -# rtabmap_sync's rgbd_sync or stereo_sync node. +# rtabmap_sync's rgbd_sync or stereo_sync node. For a camera without depth, use +# rgb_sync and set gen_depth:=true to make its depth from the lidar. # # Launch the example by adjusting the lidar topic, imu topic and base frame: # $ ros2 launch rtabmap_examples lidar3d.launch.py lidar_topic:=/velodyne_points imu_topic:=/imu/data frame_id:=velodyne +# +# For a complete example with a recorded bag (Ouster on a rotating mast, IMU and +# a camera without depth), see rtabmap_demos' netherdrone_lidar3d_demo.launch.py. + +import os from launch import LaunchDescription, LaunchContext from launch.actions import DeclareLaunchArgument, OpaqueFunction +from launch.conditions import IfCondition from launch.substitutions import LaunchConfiguration from launch_ros.actions import Node @@ -52,6 +59,8 @@ def launch_setup(context: LaunchContext, *args, **kwargs): voxel_size = LaunchConfiguration('voxel_size') voxel_size_value = float(voxel_size.perform(context)) + + lidar_range_min = float(LaunchConfiguration('lidar_range_min').perform(context)) use_sim_time = LaunchConfiguration('use_sim_time') @@ -61,8 +70,12 @@ def launch_setup(context: LaunchContext, *args, **kwargs): deskewing_slerp = LaunchConfiguration('deskewing_slerp').perform(context) deskewing_slerp = deskewing_slerp == 'true' or deskewing_slerp == 'True' - # Rule of thumb: - max_correspondence_distance = voxel_size_value * 10.0 + max_correspondence_distance = LaunchConfiguration('max_correspondence_distance').perform(context) + if max_correspondence_distance: + max_correspondence_distance = float(max_correspondence_distance) + else: + # Rule of thumb: + max_correspondence_distance = voxel_size_value * 10.0 shared_parameters = { 'use_sim_time': use_sim_time, @@ -80,7 +93,7 @@ def launch_setup(context: LaunchContext, *args, **kwargs): 'Icp/MaxTranslation': '3', 'Icp/MaxCorrespondenceDistance': str(max_correspondence_distance), 'Icp/Strategy': '1', - 'Icp/OutlierRatio': '0.7', + 'Icp/OutlierRatio': LaunchConfiguration('icp_outlier_ratio').perform(context), } icp_odometry_parameters = { @@ -88,10 +101,11 @@ def launch_setup(context: LaunchContext, *args, **kwargs): 'wait_imu_to_init': True, 'odom_frame_id': 'icp_odom', 'guess_frame_id': fixed_frame_id, + 'scan_range_min': lidar_range_min, # RTAB-Map's internal parameters are strings: - 'Odom/ScanKeyFrameThr': '0.4', + 'Odom/ScanKeyFrameThr': LaunchConfiguration('odom_key_frame_threshold').perform(context), 'OdomF2M/ScanSubtractRadius': str(voxel_size_value), - 'OdomF2M/ScanMaxSize': '15000', + 'OdomF2M/ScanMaxSize': LaunchConfiguration('odom_local_map_size').perform(context), 'OdomF2M/BundleAdjustment': 'false', 'Icp/CorrespondenceRatio': '0.01' } @@ -107,6 +121,7 @@ def launch_setup(context: LaunchContext, *args, **kwargs): 'Rtabmap/DetectionRate': '0', # indirectly set to 1 Hz by the assembling time below (1s) 'RGBD/ProximityMaxGraphDepth': '0', 'RGBD/ProximityPathMaxNeighbors': '1', + 'RGBD/ProximityAngle': '0', # assuming 360 lidar 'RGBD/AngularUpdate': '0.05', 'RGBD/LinearUpdate': '0.05', 'RGBD/CreateOccupancyGrid': 'false', @@ -115,6 +130,21 @@ def launch_setup(context: LaunchContext, *args, **kwargs): 'Reg/Strategy': '1', 'Icp/CorrespondenceRatio': str(LaunchConfiguration('min_loop_closure_overlap').perform(context)) } + + # Only for the camera, if any + camera_parameters = { + 'gen_depth': LaunchConfiguration('gen_depth').perform(context).lower() == 'true', + 'gen_depth_decimation': int(LaunchConfiguration('gen_depth_decimation').perform(context)), + 'gen_depth_fill_holes_size': int(LaunchConfiguration('gen_depth_fill_holes_size').perform(context)), + 'Rtabmap/ImagesAlreadyRectified': str(LaunchConfiguration('rectify_images').perform(context).lower() != 'true').lower(), + } + if camera_parameters['gen_depth']: + # The depth made from the lidar is 32 bits float: save it in 16 bits (mm), the + # format compressed depth images use. + camera_parameters['Mem/SaveDepth16Format'] = 'true' + + database_parameters = { + } remappings = [('imu', imu_topic), ('odom', 'icp_odom')] @@ -124,6 +154,11 @@ def launch_setup(context: LaunchContext, *args, **kwargs): else: remappings.append(('rgbd_images', LaunchConfiguration('rgbd_images_topic'))) + intermediate_nodes = LaunchConfiguration('intermediate_nodes').perform(context).lower() == 'true' + if intermediate_nodes and not external_odom_frame_id: + # Every odometry pose between the nodes is saved as a node without data. + rtabmap_parameters['Rtabmap/CreateIntermediateNodes'] = 'true' + arguments = [] if localization: rtabmap_parameters['Mem/IncrementalMemory'] = 'False' @@ -144,7 +179,8 @@ def launch_setup(context: LaunchContext, *args, **kwargs): 'use_sim_time': use_sim_time, 'fixed_frame_id': fixed_frame_id, 'wait_for_transform': 0.2, - 'slerp': deskewing_slerp}], + 'slerp': deskewing_slerp, + 'qos': LaunchConfiguration('qos')}], remappings=[ ('input_cloud', lidar_topic) ]), @@ -155,6 +191,10 @@ def launch_setup(context: LaunchContext, *args, **kwargs): parameters=[{ 'use_sim_time': use_sim_time, 'assembling_time': LaunchConfiguration('assembling_time'), + 'range_min': lidar_range_min, + 'voxel_size': float(LaunchConfiguration('assembler_voxel_size').perform(context)), + 'qos': LaunchConfiguration('qos'), + 'qos_odom': LaunchConfiguration('qos'), 'fixed_frame_id': (external_odom_frame_id if external_odom_frame_id else "")}], # This will make the node subscribing to icp odometry topic "icp_odom" remappings=[('cloud', lidar_topic_deskewed), ('odom', 'icp_odom')]), @@ -162,20 +202,23 @@ def launch_setup(context: LaunchContext, *args, **kwargs): # Update the map Node( package='rtabmap_slam', executable='rtabmap', output='screen', - parameters=[shared_parameters, rtabmap_parameters, + parameters=[shared_parameters, rtabmap_parameters, database_parameters, camera_parameters, {'subscribe_rgbd': rgbd_image_used, 'rgbd_cameras': rgbd_cameras, 'topic_queue_size': 40, 'sync_queue_size': 40,}], - remappings=remappings + [('scan_cloud', 'assembled_cloud'), ('gps/fix', LaunchConfiguration('gps_topic'))], + remappings=remappings + [('scan_cloud', 'assembled_cloud'), ('gps/fix', LaunchConfiguration('gps_topic')), + ('inter_odom', 'icp_odom')], arguments=arguments), # Just for visualization Node( + condition=IfCondition(LaunchConfiguration('rtabmap_viz')), package='rtabmap_viz', executable='rtabmap_viz', output='screen', parameters=[shared_parameters, rtabmap_parameters, {'odometry_node_name': "icp_odometry"}], - remappings=remappings + [('scan_cloud', viz_topic)]) + remappings=remappings + [('scan_cloud', viz_topic)], + arguments=['-d', LaunchConfiguration('rtabmap_viz_cfg')]) ] if not external_odom_frame_id: @@ -195,7 +238,8 @@ def launch_setup(context: LaunchContext, *args, **kwargs): 'use_sim_time': use_sim_time, 'fixed_frame_id': fixed_frame_id, 'base_frame_id': frame_id, - 'wait_for_transform_duration': 0.001}], + 'wait_for_transform_duration': 0.001, + 'qos': LaunchConfiguration('qos')}], remappings=[('imu/data', imu_topic)])) return nodes @@ -244,10 +288,50 @@ def generate_launch_description(): 'rgbd_images_topic', default_value='', description='RGBD images topic (ignored if empty, override "rgbd_image_topic" if set). Would be the output of a rtabmap_sync\'s rgbdx_sync node.'), + DeclareLaunchArgument( + 'gen_depth', default_value='false', + description='With a camera without depth (rgbd_image_topic from rgb_sync), make its depth image by projecting the assembled lidar cloud into it, so that its visual features get 3D positions.'), + + DeclareLaunchArgument( + 'gen_depth_decimation', default_value='4', + description='Resolution divider of the depth made by gen_depth; it must divide the image size. Lidar points are sparse in a full resolution image anyway.'), + + DeclareLaunchArgument( + 'gen_depth_fill_holes_size', default_value='2', + description='Fill holes up to this many pixels (after decimation) in the depth made by gen_depth, between lidar points; 0 disables.'), + + DeclareLaunchArgument( + 'rectify_images', default_value='false', + description='The camera images are not rectified: rectify them with their camera_info before use.'), + DeclareLaunchArgument( 'voxel_size', default_value='0.1', description='Voxel size (m) of the downsampled lidar point cloud. For indoor, set it between 0.1 and 0.3. For outdoor, set it to 0.5 or over.'), + DeclareLaunchArgument( + 'max_correspondence_distance', default_value='', + description='Maximum distance (m) between ICP correspondences. Empty: 10 times voxel_size.'), + + DeclareLaunchArgument( + 'icp_outlier_ratio', default_value='0.7', + description='Icp/OutlierRatio: expected ratio of outliers between scans.'), + + DeclareLaunchArgument( + 'odom_key_frame_threshold', default_value='0.4', + description='Odom/ScanKeyFrameThr: a new scan is added to the odometry local map when its overlap with it is below this ratio.'), + + DeclareLaunchArgument( + 'odom_local_map_size', default_value='15000', + description='OdomF2M/ScanMaxSize: maximum number of points of the odometry local map.'), + + DeclareLaunchArgument( + 'assembler_voxel_size', default_value='0.0', + description='Voxel size (m) of the clouds assembled for the map; 0 keeps every point.'), + + DeclareLaunchArgument( + 'lidar_range_min', default_value='0.0', + description='Lidar points closer than this (m) are ignored, by odometry and in the map; 0 keeps them all. Set it to remove hits on the robot itself.'), + DeclareLaunchArgument( 'min_loop_closure_overlap', default_value='0.2', description='Minimum scan overlap pourcentage to accept a loop closure.'), @@ -264,10 +348,25 @@ def generate_launch_description(): 'deskewing_slerp', default_value='true', description='Use fast slerp interpolation between first and last stamps of the scan for deskewing. It would less accruate than requesting TF for every points, but a lot faster. Enable this if the delay of the deskewed scan is significant larger than the original scan.'), + DeclareLaunchArgument( + 'intermediate_nodes', default_value='false', + description='Also save every odometry pose between the map\'s nodes in the database, as nodes without data (Rtabmap/CreateIntermediateNodes). Only with icp_odometry (external_odom_frame_id empty).'), + DeclareLaunchArgument( 'qos', default_value='1', description='Quality of Service: 0=system default, 1=reliable, 2=best effort.'), + DeclareLaunchArgument( + 'rtabmap_viz', default_value='true', + description='Launch RTAB-Map UI.'), + + DeclareLaunchArgument( + 'rtabmap_viz_cfg', default_value='~/.ros/rtabmapGUI.ini', + description='Configuration file of rtabmap_viz, where it also saves its settings.'), + + + + OpaqueFunction(function=launch_setup), ]) diff --git a/rtabmap_examples/launch/realsense_d400.launch.py b/rtabmap_examples/launch/realsense_d400.launch.py index d2e47aff..63e1a6af 100644 --- a/rtabmap_examples/launch/realsense_d400.launch.py +++ b/rtabmap_examples/launch/realsense_d400.launch.py @@ -36,7 +36,7 @@ def generate_launch_description(): get_package_share_directory('realsense2_camera'), 'launch'), '/rs_launch.py']), launch_arguments={'align_depth.enable': 'true', - 'rgb_camera.profile': '640x360x30'}.items(), + 'rgb_camera.color_profile': '640x360x30'}.items(), ), Node( diff --git a/rtabmap_examples/launch/realsense_d435i_color.launch.py b/rtabmap_examples/launch/realsense_d435i_color.launch.py index c0eb257f..a3ebef1a 100644 --- a/rtabmap_examples/launch/realsense_d435i_color.launch.py +++ b/rtabmap_examples/launch/realsense_d435i_color.launch.py @@ -58,7 +58,7 @@ def generate_launch_description(): 'unite_imu_method': LaunchConfiguration('unite_imu_method'), 'align_depth.enable': 'true', 'enable_sync': 'true', - 'rgb_camera.profile': '640x360x30'}.items(), + 'rgb_camera.color_profile': '640x360x30'}.items(), ), Node( diff --git a/rtabmap_examples/launch/realsense_d435i_color_composition.launch.py b/rtabmap_examples/launch/realsense_d435i_color_composition.launch.py index 3c1c0111..3d9c7746 100644 --- a/rtabmap_examples/launch/realsense_d435i_color_composition.launch.py +++ b/rtabmap_examples/launch/realsense_d435i_color_composition.launch.py @@ -81,7 +81,7 @@ def generate_launch_description(): 'unite_imu_method': LaunchConfiguration('unite_imu_method'), 'align_depth.enable': True, 'enable_sync': True, - 'rgb_camera.profile': '640x360x30', + 'rgb_camera.color_profile': '640x360x30', 'depth_module.emitter_enabled': 1}], # Make sure IR emitter is enabled extra_arguments=intra_process), diff --git a/rtabmap_examples/launch/realsense_d435i_combined.launch.py b/rtabmap_examples/launch/realsense_d435i_combined.launch.py index 89efdffc..f5367a7e 100644 --- a/rtabmap_examples/launch/realsense_d435i_combined.launch.py +++ b/rtabmap_examples/launch/realsense_d435i_combined.launch.py @@ -75,7 +75,7 @@ def generate_launch_description(): 'enable_infra2': 'true', 'align_depth.enable': 'true', 'enable_sync': 'true', - 'rgb_camera.profile': '640x360x30'}.items(), + 'rgb_camera.color_profile': '640x360x30'}.items(), ), Node( diff --git a/rtabmap_examples/package.xml b/rtabmap_examples/package.xml index f00f14b2..33c63c60 100644 --- a/rtabmap_examples/package.xml +++ b/rtabmap_examples/package.xml @@ -23,6 +23,14 @@ tf2_ros realsense2_camera velodyne + + ament_cmake_pytest + launch + launch_ros + python3-pytest + python3-yaml + ament_index_python + rtabmap_launch ament_cmake diff --git a/rtabmap_launch/CMakeLists.txt b/rtabmap_launch/CMakeLists.txt index 708a90a8..75e8e8bc 100644 --- a/rtabmap_launch/CMakeLists.txt +++ b/rtabmap_launch/CMakeLists.txt @@ -6,5 +6,19 @@ find_package(ament_cmake REQUIRED) install(DIRECTORY launch DESTINATION share/${PROJECT_NAME} ) +# The launch file test, also run by rtabmap_examples and rtabmap_demos on their own +# launch files. +install(FILES test/launch_dry_run.py test/test_launch_files.py + DESTINATION share/${PROJECT_NAME}/test +) + +if(BUILD_TESTING) + find_package(ament_cmake_pytest REQUIRED) + # Dry-runs every installed launch file with each of its switches; nothing is started, + # so it needs no DDS domain of its own. See test/launch_dry_run.py. + ament_add_pytest_test(test_launch_files test/test_launch_files.py + ENV RTABMAP_LAUNCH_TEST_PACKAGE=${PROJECT_NAME} + TIMEOUT 900) +endif() ament_package() diff --git a/rtabmap_launch/launch/rtabmap.launch.py b/rtabmap_launch/launch/rtabmap.launch.py index e54c5b21..743beed9 100644 --- a/rtabmap_launch/launch/rtabmap.launch.py +++ b/rtabmap_launch/launch/rtabmap.launch.py @@ -84,7 +84,9 @@ def launch_setup(context, *args, **kwargs): remappings=[ (['in/', LaunchConfiguration('rgb_image_transport')], [LaunchConfiguration('rgb_topic'), '/', LaunchConfiguration('rgb_image_transport')]), ('out', LaunchConfiguration('rgb_topic_relay'))], + # The transports: as arguments up to humble, as parameters from jazzy. arguments=[LaunchConfiguration('rgb_image_transport'), 'raw'], + parameters=[{'in_transport': LaunchConfiguration('rgb_image_transport'), 'out_transport': 'raw'}], namespace=LaunchConfiguration('namespace')), Node( package='image_transport', executable='republish', name='republish_depth', @@ -92,7 +94,9 @@ def launch_setup(context, *args, **kwargs): remappings=[ (['in/', LaunchConfiguration('depth_image_transport')], [LaunchConfiguration('depth_topic'), '/', LaunchConfiguration('depth_image_transport')]), ('out', LaunchConfiguration('depth_topic_relay'))], + # The transports: as arguments up to humble, as parameters from jazzy. arguments=[LaunchConfiguration('depth_image_transport'), 'raw'], + parameters=[{'in_transport': LaunchConfiguration('depth_image_transport'), 'out_transport': 'raw'}], namespace=LaunchConfiguration('namespace')), Node( package='rtabmap_sync', executable='rgbd_sync', name="rgbd_sync", output="screen", @@ -120,7 +124,9 @@ def launch_setup(context, *args, **kwargs): remappings=[ (['in/', LaunchConfiguration('rgb_image_transport')], [LaunchConfiguration('left_image_topic'), '/', LaunchConfiguration('rgb_image_transport')]), ('out', LaunchConfiguration('left_image_topic_relay'))], + # The transports: as arguments up to humble, as parameters from jazzy. arguments=[LaunchConfiguration('rgb_image_transport'), 'raw'], + parameters=[{'in_transport': LaunchConfiguration('rgb_image_transport'), 'out_transport': 'raw'}], namespace=LaunchConfiguration('namespace')), Node( package='image_transport', executable='republish', name='republish_right', @@ -128,7 +134,9 @@ def launch_setup(context, *args, **kwargs): remappings=[ (['in/', LaunchConfiguration('rgb_image_transport')], [LaunchConfiguration('right_image_topic'), '/', LaunchConfiguration('rgb_image_transport')]), ('out', LaunchConfiguration('right_image_topic_relay'))], + # The transports: as arguments up to humble, as parameters from jazzy. arguments=[LaunchConfiguration('rgb_image_transport'), 'raw'], + parameters=[{'in_transport': LaunchConfiguration('rgb_image_transport'), 'out_transport': 'raw'}], namespace=LaunchConfiguration('namespace')), Node( package='rtabmap_sync', executable='stereo_sync', name="stereo_sync", output="screen", @@ -463,7 +471,7 @@ def generate_launch_description(): DeclareLaunchArgument('use_action_for_goal', default_value='false', description='Connect to nav2\'s navigate_to_pose action server instead of publishing the output goal topic.'), DeclareLaunchArgument('ground_truth_frame_id', default_value='', description='e.g., "world"'), - DeclareLaunchArgument('ground_truth_base_frame_id', default_value='', description='e.g., "tracker", a fake frame matching the frame "frame_id" (but on different TF tree)'), + DeclareLaunchArgument('ground_truth_base_frame_id', default_value=[LaunchConfiguration('frame_id'), '_gt'], description='e.g., "tracker", a fake frame matching the frame "frame_id" (but on different TF tree). Empty: the ground truth is not used.'), DeclareLaunchArgument('approx_sync', default_value='false', description='If timestamps of the input topics should be synchronized using approximate or exact time policy.'), DeclareLaunchArgument('approx_sync_max_interval', default_value='0.0', description='(sec) 0 means infinite interval duration (used with approx_sync=true)'), diff --git a/rtabmap_launch/package.xml b/rtabmap_launch/package.xml index f308cbb3..a932720d 100644 --- a/rtabmap_launch/package.xml +++ b/rtabmap_launch/package.xml @@ -20,7 +20,14 @@ rtabmap_slam rtabmap_util rtabmap_viz - + + ament_cmake_pytest + ament_index_python + launch + launch_ros + python3-pytest + python3-yaml + ament_cmake diff --git a/rtabmap_launch/test/launch_dry_run.py b/rtabmap_launch/test/launch_dry_run.py new file mode 100644 index 00000000..5f70776e --- /dev/null +++ b/rtabmap_launch/test/launch_dry_run.py @@ -0,0 +1,492 @@ +""" +Run a launch file through a real LaunchService without starting any process. + +Every action is visited as it would be by `ros2 launch`: arguments are declared and +validated, conditions evaluated, OpaqueFunctions called, includes loaded, and every +substitution of every node resolved. Only the very last step -- spawning the process, +or asking a container to load a component -- is replaced by recording what would have +been started. What a demo breaks on is almost always visible at that point: a file +moved, an argument renamed in an included launch file, an RTAB-Map parameter renamed, +an executable that no longer exists. + +Packages the machine does not have (simulators, robot descriptions) are replaced by +empty stubs instead of failing the run: their launch files include nothing and their +nodes are recorded unchecked. What the demo itself passes on is still checked. Packages +named rtabmap* are never stubbed, so a typo in one of ours still fails. + +check_launch_file() is the whole check of one launch file, as test_launch_files.py runs +it. Both are installed with rtabmap_launch (share/rtabmap_launch/test), so that the +launch files of rtabmap_launch, rtabmap_examples and rtabmap_demos are all checked by the +same test. +""" + +import contextlib +import functools +import logging +import os +import subprocess +import tempfile +from dataclasses import dataclass, field +from pathlib import Path +from typing import Dict, List, Optional, Set, Tuple + +import ament_index_python +import ament_index_python.packages +import launch_ros.substitutions.find_package +import yaml +from ament_index_python.packages import (PackageNotFoundError, get_package_prefix, + get_package_share_directory) +from launch import LaunchContext, LaunchService +from launch.actions import (DeclareLaunchArgument, ExecuteLocal, IncludeLaunchDescription, + TimerAction) +from launch.launch_description_sources import (AnyLaunchDescriptionSource, + FrontendLaunchDescriptionSource, + PythonLaunchDescriptionSource) +from launch.launch_description_sources.python_launch_file_utilities import \ + get_launch_description_from_python_launch_file +from launch.substitutions.substitution_failure import SubstitutionFailure +from launch.utilities import normalize_to_list_of_substitutions, perform_substitutions +from launch_ros.actions import LifecycleNode, LoadComposableNodes, Node +from launch_ros.utilities import evaluate_parameters + + +@dataclass +class Started: + """A process or component the launch file would have started.""" + + kind: str # 'node', 'component' or 'process' + package: Optional[str] + executable: str # executable, component plugin, or cmd[0] + stubbed: bool + cmd: List[str] = field(default_factory=list) + parameters: Dict[str, object] = field(default_factory=dict) + + def describe(self) -> str: + if self.package: + return f'{self.kind} {self.package}/{self.executable}' + return f'{self.kind} {self.executable}' + + +@dataclass +class DryRunResult: + started: List[Started] = field(default_factory=list) + includes: List[str] = field(default_factory=list) + stubbed_packages: Set[str] = field(default_factory=set) + problems: List[str] = field(default_factory=list) + + +def _is_rtabmap_package(package: Optional[str]) -> bool: + return bool(package) and package.startswith('rtabmap') + + +def _flatten(params: dict, prefix: str = '') -> Dict[str, object]: + out = {} + for key, value in params.items(): + name = f'{prefix}{key}' + if isinstance(value, dict): + out.update(_flatten(value, name + '.')) + else: + out[name] = value + return out + + +class _ParamsLoader(yaml.SafeLoader): + """launch_ros writes a list parameter given as a Python tuple with its Python tag.""" + + +_ParamsLoader.add_constructor( + 'tag:yaml.org,2002:python/tuple', + lambda loader, node: tuple(loader.construct_sequence(node))) + + +def _load_param_file(path: str) -> Dict[str, object]: + """All parameters of a ROS 2 params file, every node block merged.""" + with open(path) as f: + content = yaml.load(f, Loader=_ParamsLoader) or {} + params = {} + for block in content.values(): + if isinstance(block, dict) and isinstance(block.get('ros__parameters'), dict): + params.update(_flatten(block['ros__parameters'])) + return params + + +class _DryRun: + """The patched hooks. One instance per run; they all record into self.result.""" + + def __init__(self, stub_root: str, known_parameters: Optional[Set[str]]): + self.result = DryRunResult() + self.stub_root = stub_root + self.known_parameters = known_parameters + self.rtabmap_shares = sorted( + os.path.join(prefix, 'share', name) + for name, prefix in ament_index_python.get_packages_with_prefixes().items() + if _is_rtabmap_package(name)) + self._real_get_package_prefix = ament_index_python.packages.get_package_prefix + + # -- checks ------------------------------------------------------------------------- + + def problem(self, msg: str): + if msg not in self.result.problems: + self.result.problems.append(msg) + + def is_stub_path(self, path: str) -> bool: + return path.startswith(self.stub_root + os.sep) + + def in_rtabmap_share(self, path: str) -> bool: + return any(path == share or path.startswith(share + os.sep) + for share in self.rtabmap_shares) + + def check_path(self, value, where: str): + """A path into one of our packages must exist. Others are not ours to check.""" + if isinstance(value, str) and self.in_rtabmap_share(value) and not os.path.exists(value): + self.problem(f'{where}: {value} does not exist') + + def check_parameters(self, started: Started): + """RTAB-Map's own parameters ("Group/Name") must exist in the installed library.""" + if self.known_parameters is None or not _is_rtabmap_package(started.package): + return + for name, value in started.parameters.items(): + self.check_path(value, f'{started.describe()} parameter {name}') + group, sep, rest = name.partition('/') + if not sep or not group.isalnum() or '/' in rest or '.' in name: + continue + if name not in self.known_parameters: + # Renamed parameters still work, with a warning asking to update the + # launch file; the installed library no longer lists the old name. + self.problem(f'{started.describe()}: "{name}" is not a parameter of the ' + 'installed RTAB-Map (renamed or removed)') + + def record(self, started: Started): + self.check_parameters(started) + self.result.started.append(started) + + # -- package lookup ----------------------------------------------------------------- + + def get_package_prefix(self, package_name): + try: + return self._real_get_package_prefix(package_name) + except PackageNotFoundError: + if _is_rtabmap_package(package_name): + raise + prefix = os.path.join(self.stub_root, package_name) + os.makedirs(os.path.join(prefix, 'share', package_name), exist_ok=True) + self.result.stubbed_packages.add(package_name) + return prefix + + def is_stubbed(self, package: Optional[str]) -> bool: + return package in self.result.stubbed_packages + + # -- launch hooks ------------------------------------------------------------------- + + def wrap_get_launch_description(self, original): + def _get_launch_description(source, location): + if self.is_stub_path(location): + from launch import LaunchDescription + return LaunchDescription([]) + return original(source, location) + return _get_launch_description + + def wrap_include_execute(self, original): + def execute(action: IncludeLaunchDescription, context: LaunchContext): + entities = original(action, context) + location = action.launch_description_source.location + self.result.includes.append(location) + passed = { + perform_substitutions(context, normalize_to_list_of_substitutions(name)): + perform_substitutions(context, normalize_to_list_of_substitutions(value)) + for name, value in action.launch_arguments} + for name, value in passed.items(): + self.check_path(value, f'argument {name} passed to {os.path.basename(location)}') + # Launch accepts any argument and silently ignores the ones the included file + # does not declare, so a renamed argument breaks the demo without a word. For + # our own files it is always a mistake; others may read undeclared ones. + if any(location.startswith(share + os.sep) for share in self.rtabmap_shares): + declared = { + arg.name for arg in + action.launch_description_source.get_launch_description(context) + .get_launch_arguments()} + for name in sorted(set(passed) - declared): + self.problem( + f'argument "{name}" passed to {os.path.basename(location)}, ' + 'which does not declare it') + return entities + return execute + + def wrap_declare_execute(self, original): + def execute(action: DeclareLaunchArgument, context: LaunchContext): + entities = original(action, context) + self.check_path(context.launch_configurations.get(action.name), + f'launch argument {action.name}') + return entities + return execute + + def execute_local(self, action: ExecuteLocal, context: LaunchContext): + """Record the process instead of starting it.""" + package = None + if isinstance(action, Node): + package = perform_substitutions( + context, normalize_to_list_of_substitutions(action.node_package)) + cmd = [] + for i, part in enumerate(action.cmd): + try: + cmd.append(perform_substitutions(context, part)) + except (SubstitutionFailure, PackageNotFoundError) as e: + # The executable of a stubbed package cannot be found, and a plain + # ExecuteProcess may call a tool (gz, xacro) this machine does not have. + if i == 0 and (self.is_stubbed(package) or not isinstance(action, Node)): + cmd.append('') + else: + self.problem(f'{package or "process"}: {e}') + return None + + if isinstance(action, Node): + executable = perform_substitutions( + context, normalize_to_list_of_substitutions(action.node_executable)) + started = Started('node', package, executable, self.is_stubbed(package), cmd) + else: + started = Started('process', None, os.path.basename(cmd[0]), False, cmd) + + for i, token in enumerate(cmd): + self.check_path(token, started.describe()) + previous = cmd[i - 1] if i > 0 else None + if previous == '--params-file': + if not self.is_stub_path(token) and not os.path.isfile(token): + self.problem(f'{started.describe()}: params file {token} does not exist') + continue + if not self.is_stub_path(token): + started.parameters.update(_load_param_file(token)) + elif previous == '-p' and ':=' in token: + name, value = token.split(':=', 1) + started.parameters[name] = value + elif (previous == '-d' and os.path.isabs(token) and not self.is_stub_path(token) + and not self.in_rtabmap_share(token) and not os.path.exists(token)): + # rviz2's config; rtabmap's own -d (delete the database) takes no value. + self.problem(f'{started.describe()}: -d {token} does not exist') + self.record(started) + return None + + def wrap_load_composable_nodes_init(self, original): + def __init__(action, *args, **kwargs): + original(action, *args, **kwargs) + descriptions = kwargs.get('composable_node_descriptions') + if descriptions is None and args: + descriptions = args[0] + action._dry_run_descriptions = list(descriptions or []) + return __init__ + + def load_composable_nodes(self, action: LoadComposableNodes, context: LaunchContext): + """Record the components instead of asking the container to load them.""" + for description in action._dry_run_descriptions: + package = perform_substitutions(context, description.package) + plugin = perform_substitutions(context, description.node_plugin) + # A component's package is not looked up by launch, only by the container + # loading it: look it up here, so a package not installed gets stubbed like + # a node's would. + self.get_package_prefix(package) + stubbed = self.is_stubbed(package) + started = Started('component', package, plugin, stubbed) + if not stubbed: + try: + content, _ = ament_index_python.get_resource('rclcpp_components', package) + plugins = [line.split(';')[0] for line in content.splitlines()] + if plugin not in plugins: + self.problem(f'component {plugin} is not registered by {package}') + except LookupError: + self.problem(f'package {package} registers no components (wanted {plugin})') + if description.parameters is not None: + for evaluated in evaluate_parameters(context, description.parameters): + if isinstance(evaluated, dict): + started.parameters.update(_flatten(evaluated)) + else: + path = str(evaluated) + if not os.path.isfile(path): + self.problem(f'{started.describe()}: params file {path} does not exist') + else: + started.parameters.update(_load_param_file(path)) + self.record(started) + return None + + +class _ErrorCollector(logging.Handler): + """LaunchService reports an exception by logging it and returning 1. + + launch_ros only warns about a parameter file that does not exist, and starts the + node without it; for a demo that is as broken as an exception. + """ + + def __init__(self): + super().__init__(logging.WARNING) + self.messages = [] + + def emit(self, record): + message = record.getMessage() + if record.levelno >= logging.ERROR or 'Parameter file path is not a file' in message: + self.messages.append(message) + + +@contextlib.contextmanager +def _patched(session: _DryRun): + patches = [] + + def patch(owner, name, value): + patches.append((owner, name, getattr(owner, name))) + setattr(owner, name, value) + + # Launch files bind these by name when they are loaded -- which happens inside the + # run, after the patch -- but launch_ros bound its copies at import. + for module in (ament_index_python.packages, ament_index_python, + launch_ros.substitutions.find_package): + patch(module, 'get_package_prefix', session.get_package_prefix) + for cls in (PythonLaunchDescriptionSource, AnyLaunchDescriptionSource, + FrontendLaunchDescriptionSource): + patch(cls, '_get_launch_description', + session.wrap_get_launch_description(cls._get_launch_description)) + patch(IncludeLaunchDescription, 'execute', + session.wrap_include_execute(IncludeLaunchDescription.execute)) + patch(DeclareLaunchArgument, 'execute', + session.wrap_declare_execute(DeclareLaunchArgument.execute)) + # Node and ExecuteProcess do all their substitutions, then hand over to + # ExecuteLocal.execute to spawn. Stopping there keeps everything before it real. + patch(ExecuteLocal, 'execute', lambda action, context: session.execute_local(action, context)) + # LifecycleNode subscribes to the node through rclpy before running it. + patch(LifecycleNode, 'execute', lambda action, context: Node.execute(action, context)) + patch(LoadComposableNodes, '__init__', + session.wrap_load_composable_nodes_init(LoadComposableNodes.__init__)) + patch(LoadComposableNodes, 'execute', + lambda action, context: session.load_composable_nodes(action, context)) + # Timers only wait for a simulator that is not there; what they start is what matters. + patch(TimerAction, 'execute', lambda action, context: list(action.actions)) + try: + yield + finally: + for owner, name, value in reversed(patches): + setattr(owner, name, value) + + +@contextlib.contextmanager +def _restored_environ(): + # On Humble SetEnvironmentVariable writes os.environ directly, and some demos set + # os.environ themselves (TURTLEBOT3_MODEL). Keep each run from seeing the last one's. + saved = os.environ.copy() + try: + yield + finally: + os.environ.clear() + os.environ.update(saved) + + +@contextlib.contextmanager +def _session(known_parameters): + with tempfile.TemporaryDirectory(prefix='launch_dry_run_stubs_') as stub_root: + session = _DryRun(os.path.realpath(stub_root), known_parameters) + with _patched(session), _restored_environ(): + yield session + + +def declared_arguments(launch_file: str) -> List[DeclareLaunchArgument]: + """The arguments a launch file declares itself, loaded with the same package stubs. + + Not get_launch_arguments(): it also returns those of every file it includes, and + their switches are the business of those files. + """ + with _session(None): + description = get_launch_description_from_python_launch_file(launch_file) + return [e for e in description.entities if isinstance(e, DeclareLaunchArgument)] + + +def dry_run(launch_file: str, launch_arguments: Dict[str, str], + known_parameters: Optional[Set[str]] = None) -> DryRunResult: + """Run launch_file with launch_arguments; see the module docstring.""" + with _session(known_parameters) as session: + errors = _ErrorCollector() + # Launch loggers do not propagate: listen on each one that reports something. + loggers = [logging.getLogger('launch'), logging.getLogger('launch_ros.actions.node')] + for logger in loggers: + logger.addHandler(errors) + try: + service = LaunchService(noninteractive=True) + service.include_launch_description(IncludeLaunchDescription( + PythonLaunchDescriptionSource(launch_file), + launch_arguments=list(launch_arguments.items()))) + return_code = service.run() + finally: + for logger in loggers: + logger.removeHandler(errors) + for message in errors.messages: + session.problem(message) + if return_code != 0 and not errors.messages: + session.problem(f'launch returned {return_code}') + return session.result + + +@functools.lru_cache(maxsize=None) +def known_rtabmap_parameters() -> frozenset: + """All RTAB-Map parameters of the installed library. + + The SLAM node leaves the odometry ones out of its --params listing, and the + odometry node the SLAM ones, so it takes both. + """ + names = set() + for package, executable in (('rtabmap_slam', 'rtabmap'), ('rtabmap_odom', 'rgbd_odometry')): + path = Path(get_package_prefix(package)) / 'lib' / package / executable + output = subprocess.run([str(path), '--params'], capture_output=True, text=True, + timeout=60, check=True).stdout + for line in output.splitlines(): + if line.startswith('Param: '): + names.add(line[len('Param: '):].split(' = ', 1)[0].strip()) + if len(names) < 300: + raise RuntimeError(f'could not read the parameter list ({len(names)} found)') + return frozenset(names) + + +def variants(launch_file: str): + """The default arguments, then each boolean flipped and each other choice, one at a time.""" + yield {} + context = LaunchContext() + for argument in declared_arguments(launch_file): + if argument.choices: + default = None + if argument.default_value is not None: + default = perform_substitutions(context, argument.default_value) + for choice in argument.choices: + if choice != default: + yield {argument.name: choice} + continue + if argument.default_value is None: + continue + try: + default = perform_substitutions(context, argument.default_value) + except Exception: + continue # default made of other arguments; not a switch + if default.lower() in ('true', 'false'): + yield {argument.name: 'false' if default.lower() == 'true' else 'true'} + + +def launch_files(source_dir: Path) -> List[str]: + """The launch files under a package's launch directory, relative to it.""" + return sorted(str(p.relative_to(source_dir)) for p in source_dir.rglob('*.launch.py')) + + +def check_launch_file(package: str, launch_file: str) -> Tuple[List[str], Set[str]]: + """Dry-run the installed share//launch/ with each variant. + + Returns the failures, one per variant that has problems, and the packages that had + to be stubbed. + """ + installed = Path(get_package_share_directory(package)) / 'launch' / launch_file + if not installed.is_file(): + return [f'{launch_file} is not installed'], set() + failures = [] + stubbed = set() + for arguments in variants(str(installed)): + result = dry_run(str(installed), arguments, known_rtabmap_parameters()) + stubbed |= result.stubbed_packages + problems = list(result.problems) + # Every launch file here is there to run some part of RTAB-Map. A condition or + # an include gone wrong can drop it without any error. + if not arguments and not any(_is_rtabmap_package(s.package) for s in result.started): + problems.append('starts nothing from an rtabmap package') + if problems: + shown = ' '.join(f'{k}:={v}' for k, v in arguments.items()) or '(defaults)' + failures.append(f'{shown}\n ' + '\n '.join(problems)) + return failures, stubbed diff --git a/rtabmap_launch/test/test_launch_files.py b/rtabmap_launch/test/test_launch_files.py new file mode 100644 index 00000000..5da13d00 --- /dev/null +++ b/rtabmap_launch/test/test_launch_files.py @@ -0,0 +1,63 @@ +""" +Dry-run every launch file of a package, with its default arguments and with each of its +switches flipped, and check what it would start. See launch_dry_run.py, next to this file. + +Installed with rtabmap_launch, and run by each package whose launch files it checks, +which names itself in RTABMAP_LAUNCH_TEST_PACKAGE (see their CMakeLists.txt): the +installed launch files of that package are the ones checked. + +A launch file is only checked as far as this machine can resolve it: the drivers or +simulators that are not installed are stubbed, and the test says which. +""" + +import os +import warnings +from pathlib import Path + +import pytest +from ament_index_python.packages import get_package_share_directory + +from launch_dry_run import check_launch_file, declared_arguments, dry_run, launch_files + +PACKAGE = os.environ.get('RTABMAP_LAUNCH_TEST_PACKAGE', 'rtabmap_launch') +LAUNCH_DIR = Path(get_package_share_directory(PACKAGE)) / 'launch' +LAUNCH_FILES = launch_files(LAUNCH_DIR) + + +@pytest.mark.parametrize('launch_file', LAUNCH_FILES) +def test_launch_file(launch_file): + failures, stubbed = check_launch_file(PACKAGE, launch_file) + if stubbed: + warnings.warn(f'{launch_file}: not installed, stubbed: {", ".join(sorted(stubbed))}') + assert not failures, f'{launch_file}:\n ' + '\n '.join(failures) + + +def _with_ground_truth_arguments(launch_file: str) -> bool: + names = {a.name for a in declared_arguments(str(LAUNCH_DIR / launch_file))} + return {'frame_id', 'ground_truth_frame_id', 'ground_truth_base_frame_id'} <= names + + +GROUND_TRUTH_LAUNCH_FILES = [f for f in LAUNCH_FILES if _with_ground_truth_arguments(f)] + + +# Where a launch file declares frame_id and the ground truth's frames, the robot frame of +# the ground truth defaults to frame_id + "_gt", as in the nodes; set empty, it reaches the +# nodes empty, which turns the ground truth off. Defined only where there is one: an empty +# parametrization would be reported as skipped. +if GROUND_TRUTH_LAUNCH_FILES: + @pytest.mark.parametrize('launch_file', GROUND_TRUTH_LAUNCH_FILES) + @pytest.mark.parametrize('arguments, expected', [ + ({}, 'base_footprint_gt'), + ({'ground_truth_base_frame_id': 'tracker'}, 'tracker'), + ({'ground_truth_base_frame_id': ''}, ''), + ], ids=['default', 'set', 'empty']) + def test_ground_truth_base_frame_id(launch_file, arguments, expected): + arguments = dict(arguments, frame_id='base_footprint', ground_truth_frame_id='world') + result = dry_run(str(LAUNCH_DIR / launch_file), arguments) + assert not result.problems, '\n'.join(result.problems) + given = {s.describe(): s.parameters.get('ground_truth_base_frame_id') + for s in result.started if 'ground_truth_frame_id' in s.parameters} + assert given, f'{launch_file} starts no node with a ground truth' + for node, value in given.items(): + assert value == expected, \ + f'{node}: ground_truth_base_frame_id={value!r}, expected {expected!r}' diff --git a/rtabmap_odom/README.md b/rtabmap_odom/README.md index 9c77e6cf..8ebd0f3d 100644 --- a/rtabmap_odom/README.md +++ b/rtabmap_odom/README.md @@ -78,7 +78,7 @@ These apply to all three nodes. | `wait_for_transform` | `double` | `0.1` | Seconds to wait for a needed transform before giving up on the frame. | | `initial_pose` | `string` | `""` | Starting pose, `"x y z roll pitch yaw"`. Also settable at runtime through `reset_odom_to_pose`. | | `ground_truth_frame_id` | `string` | `""` | When set, the pose is taken from this TF instead of being computed — for replaying a dataset with a known trajectory. | -| `ground_truth_base_frame_id` | `string` | value of `frame_id` | The robot frame within the ground truth TF tree. | +| `ground_truth_base_frame_id` | `string` | value of `frame_id` + `"_gt"` | The robot frame within the ground truth TF tree. Empty: the ground truth is not used. | | `guess_frame_id` | `string` | `""` | A frame carrying another odometry source, used as the initial guess for each registration. Documented with its companions under [Feeding in an external guess](#feeding-in-an-external-guess) -- **the highest-value parameter here for a wheeled robot**. | The sensor must be connected to `frame_id` in TF **before the first frame arrives**, or that frame is dropped with a warning. A static publisher is the usual answer. diff --git a/rtabmap_odom/src/OdometryROS.cpp b/rtabmap_odom/src/OdometryROS.cpp index 6a44b869..fa128131 100644 --- a/rtabmap_odom/src/OdometryROS.cpp +++ b/rtabmap_odom/src/OdometryROS.cpp @@ -177,7 +177,7 @@ OdometryROS::OdometryROS(const std::string & name, const rclcpp::NodeOptions & o waitForTransform_ = this->declare_parameter("wait_for_transform", waitForTransform_); initialPoseStr = this->declare_parameter("initial_pose", initialPoseStr); // "x y z roll pitch yaw" groundTruthFrameId_ = this->declare_parameter("ground_truth_frame_id", groundTruthFrameId_); - groundTruthBaseFrameId_ = this->declare_parameter("ground_truth_base_frame_id", frameId_); + groundTruthBaseFrameId_ = this->declare_parameter("ground_truth_base_frame_id", frameId_+"_gt"); configPath_ = this->declare_parameter("config_path", configPath_); publishNullWhenLost_ = this->declare_parameter("publish_null_when_lost", publishNullWhenLost_); @@ -746,7 +746,7 @@ void OdometryROS::processData() return; } - if(!groundTruthFrameId_.empty()) + if(!groundTruthFrameId_.empty() && !groundTruthBaseFrameId_.empty()) { groundTruth = rtabmap_conversions::getTransform(groundTruthFrameId_, groundTruthBaseFrameId_, header.stamp, *tfBuffer_, waitForTransform_); diff --git a/rtabmap_odom/test/node_test_utils.hpp b/rtabmap_odom/test/node_test_utils.hpp index ee9152ef..d41328da 100644 --- a/rtabmap_odom/test/node_test_utils.hpp +++ b/rtabmap_odom/test/node_test_utils.hpp @@ -32,6 +32,11 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. #include +#include +#include + +#include + #include #include #include @@ -66,11 +71,38 @@ public: } }; +/** + * @brief Prints the stack of a test binary that crashes, then crashes as it would have. + * + * A crash in CI shows only the return code otherwise (-11 for SIGSEGV), there being no + * debugger or core dump there. Library frames come with their function names; this + * binary's with an offset, for `addr2line -C -f -e `. + */ +inline void printStackOnCrash(int signal) +{ + void * frames[64]; + const int count = ::backtrace(frames, 64); + const char header[] = "\n*** Crashed, stack trace:\n"; + if(::write(STDERR_FILENO, header, sizeof(header) - 1) < 0) {} + ::backtrace_symbols_fd(frames, count, STDERR_FILENO); + std::signal(signal, SIG_DFL); + std::raise(signal); +} + /// Registers RclcppEnvironment. Call once at file scope in each test binary. inline ::testing::Environment * registerRclcppEnvironment() { - static ::testing::Environment * const env = - ::testing::AddGlobalTestEnvironment(new RclcppEnvironment); + static ::testing::Environment * const env = []() { + // backtrace() loads libgcc on its first call, which is not safe in a signal + // handler: done here. + void * frame; + ::backtrace(&frame, 1); + for(int signal : {SIGSEGV, SIGBUS, SIGFPE, SIGILL, SIGABRT}) + { + std::signal(signal, printStackOnCrash); + } + return ::testing::AddGlobalTestEnvironment(new RclcppEnvironment); + }(); return env; } diff --git a/rtabmap_odom/test/test_odometry_ros.cpp b/rtabmap_odom/test/test_odometry_ros.cpp index 6694f994..0e20c00e 100644 --- a/rtabmap_odom/test/test_odometry_ros.cpp +++ b/rtabmap_odom/test/test_odometry_ros.cpp @@ -454,6 +454,63 @@ TEST_F(OdometryRosTest, starts_from_the_configured_initial_pose) EXPECT_NEAR(3.0, odom->back().pose.pose.position.z, 1e-3); } +/** + * With a ground truth frame, the odometry starts from the ground truth's first pose: + * ground_truth_frame_id -> ground_truth_base_frame_id, which defaults to frame_id + "_gt". + * Empty, ground_truth_base_frame_id turns the ground truth off. + */ +class OdometryRosGroundTruthTest : public OdometryRosTest +{ +protected: + /// Latches world -> base_link_gt at (1, 2, 3), the only ground truth in TF. + void publishGroundTruth() + { + geometry_msgs::msg::TransformStamped gt; + gt.header.stamp = helper()->now(); + gt.header.frame_id = "world"; + gt.child_frame_id = "base_link_gt"; + gt.transform.translation.x = 1.0; + gt.transform.translation.y = 2.0; + gt.transform.translation.z = 3.0; + gt.transform.rotation.w = 1.0; + gtTf_ = std::make_shared(*helper()); + gtTf_->sendTransform(gt); + } + + /// The pose of the first frame, with the ground truth and @p params. + geometry_msgs::msg::Point firstPose(const std::vector & params) + { + publishSensorTf(); + publishGroundTruth(); + std::shared_ptr> odom = + collect("odom"); + makeNode(params); + rclcpp::Publisher::SharedPtr pub = scanPublisher(); + EXPECT_TRUE(waitForSubscriber(pub)); + feedFrames(pub, odom, 1); + return odom->empty() ? geometry_msgs::msg::Point() : odom->back().pose.pose.position; + } + + std::shared_ptr gtTf_; +}; + +TEST_F(OdometryRosGroundTruthTest, starts_from_the_ground_truth_of_frame_id_gt_by_default) +{ + geometry_msgs::msg::Point p = firstPose({rclcpp::Parameter("ground_truth_frame_id", "world")}); + EXPECT_NEAR(1.0, p.x, 1e-3); + EXPECT_NEAR(2.0, p.y, 1e-3); + EXPECT_NEAR(3.0, p.z, 1e-3); +} + +TEST_F(OdometryRosGroundTruthTest, ignores_the_ground_truth_when_its_base_frame_is_empty) +{ + geometry_msgs::msg::Point p = firstPose({rclcpp::Parameter("ground_truth_frame_id", "world"), + rclcpp::Parameter("ground_truth_base_frame_id", "")}); + EXPECT_NEAR(0.0, p.x, 1e-3); + EXPECT_NEAR(0.0, p.y, 1e-3); + EXPECT_NEAR(0.0, p.z, 1e-3); +} + /// reset_odom puts the pose back to the identity and starts the map again. TEST_F(OdometryRosTest, reset_odom_returns_the_pose_to_the_origin) { diff --git a/rtabmap_rviz_plugins/CMakeLists.txt b/rtabmap_rviz_plugins/CMakeLists.txt index 4e47a684..e059823b 100644 --- a/rtabmap_rviz_plugins/CMakeLists.txt +++ b/rtabmap_rviz_plugins/CMakeLists.txt @@ -30,6 +30,15 @@ find_package(tf2 REQUIRED) find_package(rtabmap_conversions REQUIRED) find_package(rtabmap_msgs REQUIRED) +# Optional: wall clipping of the OrbitOriented view controller +find_package(octomap QUIET) +find_package(octomap_msgs QUIET) +IF(octomap_FOUND AND octomap_msgs_FOUND) + MESSAGE(STATUS "WITH octomap (OrbitOriented's wall clipping)") +ELSE() + MESSAGE(STATUS "WITHOUT octomap (OrbitOriented's wall clipping disabled)") +ENDIF() + include_directories( ${CMAKE_CURRENT_SOURCE_DIR}/include ) @@ -78,9 +87,11 @@ add_library(rtabmap_rviz_plugins SHARED src/MapCloudDisplay.cpp src/MapGraphDisplay.cpp src/InfoDisplay.cpp + src/OrbitOrientedViewController.cpp include/${PROJECT_NAME}/MapCloudDisplay.h include/${PROJECT_NAME}/MapGraphDisplay.h include/${PROJECT_NAME}/InfoDisplay.h + include/${PROJECT_NAME}/OrbitOrientedViewController.h ) set_property(TARGET rtabmap_rviz_plugins PROPERTY AUTOMOC ON) target_include_directories(rtabmap_rviz_plugins @@ -94,6 +105,19 @@ ELSE() target_link_libraries(rtabmap_rviz_plugins PRIVATE ${Libraries}) ENDIF() +IF(octomap_FOUND AND octomap_msgs_FOUND) + target_compile_definitions(rtabmap_rviz_plugins PRIVATE RTABMAP_RVIZ_PLUGINS_OCTOMAP) + target_include_directories(rtabmap_rviz_plugins PRIVATE ${OCTOMAP_INCLUDE_DIRS}) + # octomap's config only sets variables. The same signature as above, as CMake + # requires for a target. + if("$ENV{ROS_DISTRO}" STRLESS "lyrical") + ament_target_dependencies(rtabmap_rviz_plugins octomap_msgs) + target_link_libraries(rtabmap_rviz_plugins ${OCTOMAP_LIBRARIES}) + ELSE() + target_link_libraries(rtabmap_rviz_plugins PRIVATE octomap_msgs::octomap_msgs ${OCTOMAP_LIBRARIES}) + ENDIF() +ENDIF() + # Causes the visibility macros to use dllexport rather than dllimport, # which is appropriate when building the dll but not consuming it. target_compile_definitions(rtabmap_rviz_plugins PRIVATE "RTABMAP_ROS_BUILDING_LIBRARY") diff --git a/rtabmap_rviz_plugins/include/rtabmap_rviz_plugins/OrbitOrientedViewController.h b/rtabmap_rviz_plugins/include/rtabmap_rviz_plugins/OrbitOrientedViewController.h new file mode 100644 index 00000000..ae7a7e4a --- /dev/null +++ b/rtabmap_rviz_plugins/include/rtabmap_rviz_plugins/OrbitOrientedViewController.h @@ -0,0 +1,113 @@ +/* +Copyright (c) 2010-2026, Mathieu Labbe - IntRoLab - Universite de Sherbrooke +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of the Universite de Sherbrooke nor the + names of its contributors may be used to endorse or promote products + derived from this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY +DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*/ + +#ifndef ORBIT_ORIENTED_VIEW_CONTROLLER_H +#define ORBIT_ORIENTED_VIEW_CONTROLLER_H + +#include +#include +#include + +#include + +#include + +#ifdef RTABMAP_RVIZ_PLUGINS_OCTOMAP +#include +#include +namespace octomap +{ +class AbstractOcTree; +} +#endif + +namespace rviz_common +{ +namespace properties +{ +class BoolProperty; +class FloatProperty; +class IntProperty; +class RosTopicProperty; +} +} + +namespace rtabmap_rviz_plugins +{ + +/** + * An orbit view controller whose camera turns with the target frame's yaw: the view + * stays behind the robot as it turns. With "Wall clipping" (needs octomap), the camera + * is moved in front of any obstacle of an octomap that would hide the target. + */ +class RTABMAP_RVIZ_PLUGINS_PUBLIC OrbitOrientedViewController : + public rviz_default_plugins::view_controllers::OrbitViewController +{ +Q_OBJECT +public: + OrbitOrientedViewController(); + virtual ~OrbitOrientedViewController(); + + void onInitialize() override; + +protected: + void updateCamera() override; + +private Q_SLOTS: + void updateWallClipping(); + +private: + float targetYaw() const; + + rviz_common::properties::FloatProperty * fov_property_; + rviz_common::properties::BoolProperty * wall_clipping_property_; + +#ifdef RTABMAP_RVIZ_PLUGINS_OCTOMAP + Ogre::Vector3 clipToWalls(const Ogre::Vector3 & focal_point, const Ogre::Vector3 & position); + void octomapCallback(const octomap_msgs::msg::Octomap::ConstSharedPtr msg); + void decodeOctomaps(); + + rviz_common::properties::RosTopicProperty * octomap_topic_property_; + rviz_common::properties::FloatProperty * ignore_distance_property_; + rviz_common::properties::IntProperty * octree_depth_property_; + rviz_common::properties::FloatProperty * wall_margin_property_; + rclcpp::Subscription::SharedPtr octomap_sub_; + + // Decoding a large octomap takes too long for rviz's thread, which runs the + // subscription: it is done by a thread of its own, which keeps only the latest map. + std::mutex octomap_mutex_; + octomap_msgs::msg::Octomap::ConstSharedPtr pending_octomap_; + std::shared_ptr octree_; + std::thread decoding_thread_; + bool decoding_; + bool warned_no_octomap_; +#endif +}; + +} // namespace rtabmap_rviz_plugins + +#endif // ORBIT_ORIENTED_VIEW_CONTROLLER_H diff --git a/rtabmap_rviz_plugins/package.xml b/rtabmap_rviz_plugins/package.xml index 8dc26861..2fd9d0f9 100644 --- a/rtabmap_rviz_plugins/package.xml +++ b/rtabmap_rviz_plugins/package.xml @@ -26,6 +26,8 @@ tf2 rtabmap_conversions rtabmap_msgs + liboctomap-dev + octomap_msgs ament_cmake diff --git a/rtabmap_rviz_plugins/rviz_plugins.xml b/rtabmap_rviz_plugins/rviz_plugins.xml index 699c38e0..5cb403df 100644 --- a/rtabmap_rviz_plugins/rviz_plugins.xml +++ b/rtabmap_rviz_plugins/rviz_plugins.xml @@ -23,4 +23,11 @@ rtabmap_rviz_plugins/msg/Info + + + Orbit camera turning with the target frame's yaw, so the view stays behind the robot. Optionally (built with octomap), the camera is moved in front of the octomap obstacles that would hide the target. + + diff --git a/rtabmap_rviz_plugins/src/MapCloudDisplay.cpp b/rtabmap_rviz_plugins/src/MapCloudDisplay.cpp index a68ccfff..c4549dbf 100644 --- a/rtabmap_rviz_plugins/src/MapCloudDisplay.cpp +++ b/rtabmap_rviz_plugins/src/MapCloudDisplay.cpp @@ -36,6 +36,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. #include #include "rclcpp/clock.hpp" +#include "rclcpp/node.hpp" #include "rviz_common/display.hpp" #include "rviz_default_plugins/displays/pointcloud/point_cloud_to_point_cloud2.hpp" diff --git a/rtabmap_rviz_plugins/src/OrbitOrientedViewController.cpp b/rtabmap_rviz_plugins/src/OrbitOrientedViewController.cpp new file mode 100644 index 00000000..86c98411 --- /dev/null +++ b/rtabmap_rviz_plugins/src/OrbitOrientedViewController.cpp @@ -0,0 +1,384 @@ +/* +Copyright (c) 2010-2026, Mathieu Labbe - IntRoLab - Universite de Sherbrooke +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of the Universite de Sherbrooke nor the + names of its contributors may be used to endorse or promote products + derived from this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY +DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*/ + +#include "rtabmap_rviz_plugins/OrbitOrientedViewController.h" + +#include +#include +#include + +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#ifdef RTABMAP_RVIZ_PLUGINS_OCTOMAP +#include +#include +#include +#endif + +namespace rtabmap_rviz_plugins +{ + +namespace +{ +// Ogre's default, 45 degrees. +const float kDefaultFov = Ogre::Math::HALF_PI / 2.0f; + +#ifdef RTABMAP_RVIZ_PLUGINS_OCTOMAP +/// How far along a ray from origin to end the first occupied voxel of the tree starts, +/// if the ray crosses one. Voxels are taken at the given depth of the tree, as an +/// octomap display showing that depth draws them: a coarser voxel is occupied if any of +/// its leaves is, and the ray may cross it without crossing that leaf. +template +bool firstHit(const TREE & tree, unsigned int depth, const octomath::Vector3 & origin, + const octomath::Vector3 & end, float & distance) +{ + octomap::KeyRay keys; + if(!tree.computeRayKeys(origin, end, keys)) + { + return false; // out of the tree's bounds + } + if(depth == 0 || depth > tree.getTreeDepth()) + { + depth = tree.getTreeDepth(); + } + const double halfSize = tree.getNodeSize(depth) / 2.0; + const octomath::Vector3 direction = (end - origin).normalized(); + + bool first = true; + octomap::OcTreeKey previous; + for(octomap::KeyRay::const_iterator iter = keys.begin(); iter != keys.end(); ++iter) + { + const octomap::OcTreeKey key = tree.adjustKeyAtDepth(*iter, depth); + if(!first && key == previous) + { + continue; // still in the same coarse voxel + } + first = false; + previous = key; + + const typename TREE::NodeType * node = tree.search(key, depth); + if(node == 0 || !tree.isNodeOccupied(node)) + { + continue; // free or unknown + } + // Where the ray enters that voxel's cube. + const octomath::Vector3 center = tree.keyToCoord(key, depth); + double entry = 0.0; + for(int i = 0; i < 3; ++i) + { + if(std::fabs(direction(i)) > 1e-9) + { + const double t1 = (center(i) - halfSize - origin(i)) / direction(i); + const double t2 = (center(i) + halfSize - origin(i)) / direction(i); + entry = std::max(entry, std::min(t1, t2)); + } + } + distance = static_cast(entry); + return true; + } + return false; +} +#endif +} // namespace + +OrbitOrientedViewController::OrbitOrientedViewController() +#ifdef RTABMAP_RVIZ_PLUGINS_OCTOMAP + : decoding_(false), + warned_no_octomap_(false) +#endif +{ + fov_property_ = new rviz_common::properties::FloatProperty( + "Field of View", kDefaultFov, "Vertical field of view of the camera (rad).", this); + fov_property_->setMin(0.001f); + fov_property_->setMax(Ogre::Math::PI - 0.001f); + + wall_clipping_property_ = new rviz_common::properties::BoolProperty( + "Wall clipping", false, + "Move the camera in front of the octomap obstacles that would hide the target.", + this, SLOT(updateWallClipping()), this); + +#ifdef RTABMAP_RVIZ_PLUGINS_OCTOMAP + octomap_topic_property_ = new rviz_common::properties::RosTopicProperty( + "Octomap Topic", "/octomap_binary", "octomap_msgs/msg/Octomap", + "Octomap in which obstacles are looked for, e.g., rtabmap's octomap_binary (occupancy only, smaller) or octomap_full.", + wall_clipping_property_, SLOT(updateWallClipping()), this); + ignore_distance_property_ = new rviz_common::properties::FloatProperty( + "Ignore Distance", 1.0f, + "Obstacles closer than this to the focal point (m) are ignored, so that the " + "target's own voxels do not count.", + wall_clipping_property_); + ignore_distance_property_->setMin(0.0f); + octree_depth_property_ = new rviz_common::properties::IntProperty( + "Octree Depth", 16, + "Depth of the octomap at which obstacles are looked for: set it as the octomap " + "display's \"Max. Octree Depth\", so that the camera stops in front of the cubes " + "shown. 16 is the full resolution.", + wall_clipping_property_); + octree_depth_property_->setMin(1); + octree_depth_property_->setMax(16); + wall_margin_property_ = new rviz_common::properties::FloatProperty( + "Wall Margin", 0.05f, + "How far in front of an obstacle the camera is put (m).", + wall_clipping_property_); + wall_margin_property_->setMin(0.0f); +#else + wall_clipping_property_->setReadOnly(true); + wall_clipping_property_->setDescription( + "Not available: rtabmap_rviz_plugins was built without octomap."); +#endif +} + +OrbitOrientedViewController::~OrbitOrientedViewController() +{ +#ifdef RTABMAP_RVIZ_PLUGINS_OCTOMAP + { + std::lock_guard lock(octomap_mutex_); + pending_octomap_.reset(); + } + if(decoding_thread_.joinable()) + { + decoding_thread_.join(); + } +#endif +} + +void OrbitOrientedViewController::onInitialize() +{ + OrbitViewController::onInitialize(); +#ifdef RTABMAP_RVIZ_PLUGINS_OCTOMAP + octomap_topic_property_->initialize(context_->getRosNodeAbstraction()); +#endif + updateWallClipping(); +} + +void OrbitOrientedViewController::updateWallClipping() +{ +#ifdef RTABMAP_RVIZ_PLUGINS_OCTOMAP + const bool enabled = wall_clipping_property_->getBool(); + octomap_topic_property_->setHidden(!enabled); + ignore_distance_property_->setHidden(!enabled); + octree_depth_property_->setHidden(!enabled); + wall_margin_property_->setHidden(!enabled); + + octomap_sub_.reset(); + { + std::lock_guard lock(octomap_mutex_); + pending_octomap_.reset(); + octree_.reset(); + } + warned_no_octomap_ = false; + if(!enabled || !context_) + { + return; + } + const std::string topic = octomap_topic_property_->getTopicStd(); + if(topic.empty()) + { + return; + } + auto node = context_->getRosNodeAbstraction().lock(); + if(!node) + { + return; + } + try + { + octomap_sub_ = node->get_raw_node()->create_subscription( + topic, rclcpp::QoS(1).reliable(), + std::bind(&OrbitOrientedViewController::octomapCallback, this, std::placeholders::_1)); + } + catch(const rclcpp::exceptions::InvalidTopicNameError & e) + { + RVIZ_COMMON_LOG_WARNING_STREAM("OrbitOriented: invalid octomap topic \"" << topic << "\": " << e.what()); + } +#endif +} + +float OrbitOrientedViewController::targetYaw() const +{ + // Yaw only: the view turns with the target, but stays level when the target tilts. + const Ogre::Quaternion & q = reference_orientation_; + return std::atan2(2.0f * (q.w * q.z + q.x * q.y), 1.0f - 2.0f * (q.y * q.y + q.z * q.z)); +} + +void OrbitOrientedViewController::updateCamera() +{ + const float distance = distance_property_->getFloat(); + const float yaw = yaw_property_->getFloat() + targetYaw(); + const float pitch = pitch_property_->getFloat(); + const Ogre::Vector3 focal_point = focal_point_property_->getVector(); + + // As OrbitViewController, in the target's node (the target frame's position, + // with the fixed frame's orientation). + Ogre::Vector3 position( + distance * std::cos(yaw) * std::cos(pitch) + focal_point.x, + distance * std::sin(yaw) * std::cos(pitch) + focal_point.y, + distance * std::sin(pitch) + focal_point.z); + +#ifdef RTABMAP_RVIZ_PLUGINS_OCTOMAP + if(wall_clipping_property_->getBool()) + { + position = clipToWalls(focal_point, position); + } +#endif + + Ogre::SceneNode * camera_parent = camera_->getParentSceneNode(); + if(!camera_parent) + { + throw std::runtime_error("camera's parent scene node pointer unexpectedly nullptr"); + } + camera_parent->setPosition(position); + camera_parent->setFixedYawAxis(true, target_scene_node_->getOrientation() * Ogre::Vector3::UNIT_Z); + camera_parent->setDirection(focal_point - position, Ogre::SceneNode::TS_PARENT); + camera_->setFOVy(Ogre::Radian(fov_property_->getFloat())); + + focal_shape_->setPosition(focal_point); +} + +#ifdef RTABMAP_RVIZ_PLUGINS_OCTOMAP +Ogre::Vector3 OrbitOrientedViewController::clipToWalls( + const Ogre::Vector3 & focal_point, const Ogre::Vector3 & position) +{ + std::shared_ptr tree; + { + std::lock_guard lock(octomap_mutex_); + tree = octree_; + } + if(!tree) + { + if(!warned_no_octomap_) + { + RVIZ_COMMON_LOG_WARNING_STREAM("OrbitOriented: no octomap received yet on " + << octomap_topic_property_->getTopicStd() << ", wall clipping is not done."); + warned_no_octomap_ = true; + } + return position; + } + + // The ray goes from the focal point to the camera, in the fixed frame. + const Ogre::Vector3 target = target_scene_node_->getPosition(); + const Ogre::Vector3 from = target + focal_point; + const Ogre::Vector3 to = target + position; + const float length = from.distance(to); + const float ignored = ignore_distance_property_->getFloat(); + if(length <= ignored) + { + return position; + } + const Ogre::Vector3 start = from + (to - from) * (ignored / length); + + const octomath::Vector3 origin(start.x, start.y, start.z); + const octomath::Vector3 end(to.x, to.y, to.z); + float hitDistance = 0.0f; + bool hasHit = false; + if(const octomap::ColorOcTree * colorTree = dynamic_cast(tree.get())) + { + hasHit = firstHit(*colorTree, octree_depth_property_->getInt(), origin, end, hitDistance); + } + else if(const octomap::OcTree * ocTree = dynamic_cast(tree.get())) + { + hasHit = firstHit(*ocTree, octree_depth_property_->getInt(), origin, end, hitDistance); + } + if(!hasHit) + { + return position; + } + // Short of the obstacle by the margin, but not closer to the focal point than the + // camera can see. + const float distance = std::max( + ignored + hitDistance - wall_margin_property_->getFloat(), + static_cast(camera_->getNearClipDistance())); + if(distance >= length) + { + return position; + } + return focal_point + (position - focal_point) * (distance / length); +} + +void OrbitOrientedViewController::octomapCallback(const octomap_msgs::msg::Octomap::ConstSharedPtr msg) +{ + { + std::lock_guard lock(octomap_mutex_); + pending_octomap_ = msg; + if(decoding_) + { + return; // the decoding thread takes it when done with the current one + } + decoding_ = true; + } + if(decoding_thread_.joinable()) + { + decoding_thread_.join(); // finished: decoding_ was false + } + decoding_thread_ = std::thread(&OrbitOrientedViewController::decodeOctomaps, this); +} + +void OrbitOrientedViewController::decodeOctomaps() +{ + while(true) + { + octomap_msgs::msg::Octomap::ConstSharedPtr msg; + { + std::lock_guard lock(octomap_mutex_); + msg.swap(pending_octomap_); + if(!msg) + { + decoding_ = false; + return; + } + } + std::shared_ptr tree(octomap_msgs::msgToMap(*msg)); + if(!tree) + { + RVIZ_COMMON_LOG_WARNING_STREAM("OrbitOriented: could not decode the octomap (tree type \"" + << msg->id << "\")."); + continue; + } + std::lock_guard lock(octomap_mutex_); + octree_ = tree; + } +} +#endif + +} // namespace rtabmap_rviz_plugins + +#include +PLUGINLIB_EXPORT_CLASS(rtabmap_rviz_plugins::OrbitOrientedViewController, rviz_common::ViewController) diff --git a/rtabmap_slam/CMakeLists.txt b/rtabmap_slam/CMakeLists.txt index 86e168a6..3131c361 100644 --- a/rtabmap_slam/CMakeLists.txt +++ b/rtabmap_slam/CMakeLists.txt @@ -277,6 +277,12 @@ if(BUILD_TESTING) rtabmap_slam_add_node_test(test_core_wrapper_services) rtabmap_slam_add_node_test(test_core_wrapper_planning) rtabmap_slam_add_node_test(test_core_wrapper_inputs) + + # The `rtabmap` executable under `ros2 launch`, stopped as Ctrl-C does. + find_package(ament_cmake_pytest REQUIRED) + ament_add_pytest_test(test_shutdown test/test_shutdown.py + ENV ROS_DOMAIN_ID=${rtabmap_slam_test_domain_id} "PYTEST_ADDOPTS=-p no:cacheprovider" + TIMEOUT 300) endif() ament_package() diff --git a/rtabmap_slam/doc/rtabmap.md b/rtabmap_slam/doc/rtabmap.md index 9a04db83..8c91d16b 100644 --- a/rtabmap_slam/doc/rtabmap.md +++ b/rtabmap_slam/doc/rtabmap.md @@ -485,7 +485,7 @@ The ones that set how often a node is added, explained in [Update rate and dropp | `tf_tolerance` | `double` | `0.1` | How far in the future the transform is stamped, in seconds, so that lookups at the latest sensor stamp do not have to wait for it. | | `wait_for_transform` | `double` | `0.2` | Seconds to wait for a TF lookup before giving up on it. | | `ground_truth_frame_id` | `string` | `""` | The fixed frame of a ground truth system, for example `world` published by an external localization system like Vicon or OptiTrack. `ground_truth_frame_id` → `ground_truth_base_frame_id` is looked up and stored with each node, for evaluating a trajectory afterwards. | -| `ground_truth_base_frame_id` | `string` | value of `frame_id` | The robot frame in the ground truth tree, for example `base_link_gt`. To avoid breaking the TF tree, it represents the same frame as `frame_id`, but in a parallel TF tree, so that the robot frame does not get two parents. | +| `ground_truth_base_frame_id` | `string` | value of `frame_id` + `"_gt"` | The robot frame in the ground truth tree, for example `base_link_gt`. Empty: the ground truth is not used. To avoid breaking the TF tree, it represents the same frame as `frame_id`, but in a parallel TF tree, so that the robot frame does not get two parents. | **This node publishes exactly one transform: `map` → `odom`.** It is the correction that puts the odometry frame where the optimized graph says it belongs — the identity until a loop closure moves it. Odometry keeps publishing `odom` → `base_link`, and the sensors must be attached to `base_link` in TF, as in the [TF tree](../README.md#frames-and-tf). diff --git a/rtabmap_slam/package.xml b/rtabmap_slam/package.xml index 5c7881bf..8372981d 100644 --- a/rtabmap_slam/package.xml +++ b/rtabmap_slam/package.xml @@ -37,6 +37,13 @@ ament_cmake_gtest rtabmap_conversions + ament_cmake_pytest + launch + launch_ros + python3-pytest + rclpy + ros2launch + tf2_msgs ament_cmake diff --git a/rtabmap_slam/src/CoreNode.cpp b/rtabmap_slam/src/CoreNode.cpp index b4a82302..27e3b56a 100644 --- a/rtabmap_slam/src/CoreNode.cpp +++ b/rtabmap_slam/src/CoreNode.cpp @@ -99,6 +99,11 @@ int main(int argc, char** argv) executor.add_node(node); UINFO("rtabmap %s started...", RTABMAP_VERSION); executor.spin(); + // Close the database before rclcpp::shutdown(), which uninstalls the signal + // handlers: a second SIGINT (e.g., Ctrl-C then ros2 launch's own) would otherwise + // kill the node while it is still saving. + executor.remove_node(node); + node.reset(); rclcpp::shutdown(); return 0; } diff --git a/rtabmap_slam/src/CoreWrapper.cpp b/rtabmap_slam/src/CoreWrapper.cpp index 87d86fb7..ee6b9a60 100644 --- a/rtabmap_slam/src/CoreWrapper.cpp +++ b/rtabmap_slam/src/CoreWrapper.cpp @@ -176,7 +176,7 @@ CoreWrapper::CoreWrapper(const rclcpp::NodeOptions & options) : odomFrameIdInit = this->declare_parameter("odom_frame_id_init", odomFrameIdInit); // set to publish map->odom TF before receiving odom topic mapFrameId_ = this->declare_parameter("map_frame_id", mapFrameId_); groundTruthFrameId_ = this->declare_parameter("ground_truth_frame_id", groundTruthFrameId_); - groundTruthBaseFrameId_ = this->declare_parameter("ground_truth_base_frame_id", frameId_); + groundTruthBaseFrameId_ = this->declare_parameter("ground_truth_base_frame_id", frameId_+"_gt"); if(!odomFrameIdInit.empty()) { @@ -2131,7 +2131,7 @@ void CoreWrapper::process( SensorData interData(cv::Mat(), cv::Mat(), rtabmap::CameraModel(), -1, rtabmap_conversions::timestampFromROS(iter->first.header.stamp)); Transform gt; - if(!groundTruthFrameId_.empty()) + if(!groundTruthFrameId_.empty() && !groundTruthBaseFrameId_.empty()) { gt = rtabmap_conversions::getTransform(groundTruthFrameId_, groundTruthBaseFrameId_, iter->first.header.stamp, *tfBuffer_, waitForTransform_); } @@ -2185,7 +2185,7 @@ void CoreWrapper::process( //Add async stuff Transform groundTruthPose; - if(!groundTruthFrameId_.empty()) + if(!groundTruthFrameId_.empty() && !groundTruthBaseFrameId_.empty()) { groundTruthPose = rtabmap_conversions::getTransform(groundTruthFrameId_, groundTruthBaseFrameId_, stamp, *tfBuffer_, waitForTransform_); } diff --git a/rtabmap_slam/test/node_test_utils.hpp b/rtabmap_slam/test/node_test_utils.hpp index 0563a153..91eca713 100644 --- a/rtabmap_slam/test/node_test_utils.hpp +++ b/rtabmap_slam/test/node_test_utils.hpp @@ -32,6 +32,11 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. #include +#include +#include + +#include + #include #include #include @@ -66,11 +71,38 @@ public: } }; +/** + * @brief Prints the stack of a test binary that crashes, then crashes as it would have. + * + * A crash in CI shows only the return code otherwise (-11 for SIGSEGV), there being no + * debugger or core dump there. Library frames come with their function names; this + * binary's with an offset, for `addr2line -C -f -e `. + */ +inline void printStackOnCrash(int signal) +{ + void * frames[64]; + const int count = ::backtrace(frames, 64); + const char header[] = "\n*** Crashed, stack trace:\n"; + if(::write(STDERR_FILENO, header, sizeof(header) - 1) < 0) {} + ::backtrace_symbols_fd(frames, count, STDERR_FILENO); + std::signal(signal, SIG_DFL); + std::raise(signal); +} + /// Registers RclcppEnvironment. Call once at file scope in each test binary. inline ::testing::Environment * registerRclcppEnvironment() { - static ::testing::Environment * const env = - ::testing::AddGlobalTestEnvironment(new RclcppEnvironment); + static ::testing::Environment * const env = []() { + // backtrace() loads libgcc on its first call, which is not safe in a signal + // handler: done here. + void * frame; + ::backtrace(&frame, 1); + for(int signal : {SIGSEGV, SIGBUS, SIGFPE, SIGILL, SIGABRT}) + { + std::signal(signal, printStackOnCrash); + } + return ::testing::AddGlobalTestEnvironment(new RclcppEnvironment); + }(); return env; } diff --git a/rtabmap_slam/test/rtabmap_odom_only.launch.py b/rtabmap_slam/test/rtabmap_odom_only.launch.py new file mode 100644 index 00000000..5ceb7d27 --- /dev/null +++ b/rtabmap_slam/test/rtabmap_odom_only.launch.py @@ -0,0 +1,22 @@ +# rtabmap alone, mapping from odometry only, for test_shutdown.py. + +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import Node + + +def generate_launch_description(): + return LaunchDescription([ + DeclareLaunchArgument('database_path'), + DeclareLaunchArgument('working_directory'), + Node( + package='rtabmap_slam', executable='rtabmap', output='screen', + parameters=[{ + 'database_path': LaunchConfiguration('database_path'), + 'Rtabmap/WorkingDirectory': LaunchConfiguration('working_directory'), + 'subscribe_depth': False, + 'subscribe_rgb': False, + 'Rtabmap/DetectionRate': '0'}], + arguments=['-d']), + ]) diff --git a/rtabmap_slam/test/test_core_wrapper_inputs.cpp b/rtabmap_slam/test/test_core_wrapper_inputs.cpp index 2f09c2dd..07003f98 100644 --- a/rtabmap_slam/test/test_core_wrapper_inputs.cpp +++ b/rtabmap_slam/test/test_core_wrapper_inputs.cpp @@ -68,6 +68,45 @@ protected: return nullptr; } + /** + * @brief Calls @p send until the node processes the update stamped @p stamp: an info + * at that stamp. + * + * For a node on its own multi-threaded executor (makeMultiThreadedNode()): it + * publishes info from inside its update, and takes new data only once that update + * has returned, dropping what arrives in between. Woken by info, the test can send + * the next update in that window, on a slow machine; it is then sent again. A copy + * sent while the first is still being processed is dropped the same way; one that + * was processed anyway only adds an info at a stamp already seen. A node that never + * takes new data again still fails. + */ + bool sendUntilProcessed( + const std::function & send, + const std::shared_ptr> & info, + double stamp) + { + const rclcpp::Time expected(stampOf(stamp)); + auto processed = [&]() { + for(const rtabmap_msgs::msg::Info::ConstSharedPtr & msg : info->messages) + { + if(rclcpp::Time(msg->header.stamp) == expected) + { + return true; + } + } + return false; + }; + for(int attempt=0; attempt<10; ++attempt) + { + send(); + if(spinUntil(processed, std::chrono::milliseconds(500))) + { + return true; + } + } + return false; + } + static bool hasPose(const rtabmap_msgs::msg::MapGraph & graph, int id) { return std::find(graph.poses_id.begin(), graph.poses_id.end(), id) != graph.poses_id.end(); @@ -304,11 +343,10 @@ TEST_F(CoreWrapperInputsTest, maps_the_next_scans_after_one_without_its_tf) publishStaticTf("laser"); for(int i=1; i<=3; ++i) { - const size_t before = info->size(); - sendOdom(odom, 1.0 + i, 0.5*i); - scan->publish(makeRoomScan("laser", 1.0 + i, 0.5*i)); - ASSERT_TRUE(spinUntil([&]() { return info->size() > before; })) - << "scan " << i << " was not processed after the one without TF"; + ASSERT_TRUE(sendUntilProcessed([&]() { + sendOdom(odom, 1.0 + i, 0.5*i); + scan->publish(makeRoomScan("laser", 1.0 + i, 0.5*i)); + }, info, 1.0 + i)) << "scan " << i << " was not processed after the one without TF"; } EXPECT_EQ(3u, getGraph().graph.poses_id.size()); } @@ -332,11 +370,10 @@ TEST_F(CoreWrapperInputsTest, maps_the_next_clouds_after_one_without_its_tf) publishStaticTf("lidar", 0.0, 0.0, 0.5); for(int i=1; i<=3; ++i) { - const size_t before = info->size(); - sendOdom(odom, 1.0 + i, 0.5*i); - cloud->publish(makeCloud("lidar", 1.0 + i, roomScan3d(0.5*i, 0.0, 0.5))); - ASSERT_TRUE(spinUntil([&]() { return info->size() > before; })) - << "cloud " << i << " was not processed after the one without TF"; + ASSERT_TRUE(sendUntilProcessed([&]() { + sendOdom(odom, 1.0 + i, 0.5*i); + cloud->publish(makeCloud("lidar", 1.0 + i, roomScan3d(0.5*i, 0.0, 0.5))); + }, info, 1.0 + i)) << "cloud " << i << " was not processed after the one without TF"; } EXPECT_EQ(3u, getGraph().graph.poses_id.size()); } @@ -354,7 +391,10 @@ TEST_F(CoreWrapperInputsTest, reads_odometry_from_tf_with_odom_frame_id) rclcpp::Publisher::SharedPtr scan = helper()->create_publisher("scan", 10); ASSERT_TRUE(waitForSubscriber(scan)); - EXPECT_EQ(0u, helper()->count_publishers("odom") + helper()->count_subscribers("odom")); + // Waits: the graph can still list the previous test's odom endpoints for a moment. + EXPECT_TRUE(spinUntil([&]() { + return helper()->count_publishers("odom") + helper()->count_subscribers("odom") == 0; })) + << "something subscribes or publishes on odom"; driveWithScans(nullptr, scan, info, 3, 0.0); diff --git a/rtabmap_slam/test/test_core_wrapper_mapping.cpp b/rtabmap_slam/test/test_core_wrapper_mapping.cpp index 803e8224..7f2c89e7 100644 --- a/rtabmap_slam/test/test_core_wrapper_mapping.cpp +++ b/rtabmap_slam/test/test_core_wrapper_mapping.cpp @@ -93,6 +93,48 @@ TEST_F(CoreWrapperMappingTest, adds_a_node_per_odometry_update) EXPECT_NE(0, neighborLink(map.graph, 2, 3).from_id); } +/** + * With a ground truth frame, each node gets the ground truth's pose at its stamp, and + * rtabmap reports its error against it (Gt/* statistics): ground_truth_frame_id -> + * ground_truth_base_frame_id, which defaults to frame_id + "_gt". Here only base_link_gt + * is in TF, following the odometry exactly. Empty, ground_truth_base_frame_id turns the + * ground truth off. + */ +class CoreWrapperGroundTruthTest : public CoreWrapperMappingTest +{ +protected: + /// Gt/Translational_rmse/m after three updates with @p params, -1 if not reported. + float groundTruthRmse(const std::vector & params) + { + makeNode(params); + std::shared_ptr> info = collectInfo(); + rclcpp::Publisher::SharedPtr odom = odomPublisher(); + for(int i=0; i<3; ++i) + { + const size_t before = info->size(); + publishTf(makeTransform("world", "base_link_gt", 1.0 + i, 0.5 * i)); + sendOdom(odom, 1.0 + i, 0.5 * i); + EXPECT_TRUE(spinUntil([&]() { return info->size() > before; })) + << "update " << i << " was not processed"; + } + return info->empty() ? -1.0f : stat(info->back(), "Gt/Translational_rmse/m"); + } +}; + +TEST_F(CoreWrapperGroundTruthTest, compares_with_the_ground_truth_of_frame_id_gt_by_default) +{ + const float rmse = groundTruthRmse({rclcpp::Parameter("ground_truth_frame_id", "world")}); + ASSERT_GE(rmse, 0.0f) << "no Gt/* statistics: the ground truth was not found"; + EXPECT_NEAR(0.0f, rmse, 1e-3); +} + +TEST_F(CoreWrapperGroundTruthTest, ignores_the_ground_truth_when_its_base_frame_is_empty) +{ + EXPECT_LT(groundTruthRmse({rclcpp::Parameter("ground_truth_frame_id", "world"), + rclcpp::Parameter("ground_truth_base_frame_id", "")}), 0.0f) + << "Gt/* statistics reported although the ground truth is off"; +} + /** * An update that did not move at least RGBD/LinearUpdate (or turn RGBD/AngularUpdate) * since the last node is not added: a robot standing still does not grow the map. diff --git a/rtabmap_slam/test/test_core_wrapper_planning.cpp b/rtabmap_slam/test/test_core_wrapper_planning.cpp index 3101e495..7dabc860 100644 --- a/rtabmap_slam/test/test_core_wrapper_planning.cpp +++ b/rtabmap_slam/test/test_core_wrapper_planning.cpp @@ -50,7 +50,14 @@ protected: ASSERT_TRUE(waitForPublisher(goalReached_->subscription)); ASSERT_TRUE(waitForPublisher(globalPath_->subscription)); ASSERT_TRUE(waitForPublisher(globalPathNodes_->subscription)); - driveStraight(odom_, info_, 5); // nodes 1..5 at x = 0, 0.5, 1.0, 1.5, 2.0 + // Nodes 1..5 at x = 0, 0.5, 1.0, 1.5, 2.0. + for(int i=0; i<5; ++i) + { + const size_t before = info_->size(); + sendUpdate(1.0 + i, 0.5 * i); + ASSERT_TRUE(spinUntil([&]() { return info_->size() > before; })) + << "update " << i << " was not processed"; + } nextStamp_ = 6.0; } @@ -65,11 +72,17 @@ protected: virtual std::vector nodeParameters() { return {}; } + /// Sends one odometry update stamped @p stamp, the robot at (@p x, 0, @p yaw). + virtual void sendUpdate(double stamp, double x, double yaw = 0.0) + { + sendOdom(odom_, stamp, x, 0.0, yaw); + } + /// Moves the robot to @p x and waits for the update to be processed. bool moveTo(double x) { const size_t before = info_->size(); - sendOdom(odom_, nextStamp_, x); + sendUpdate(nextStamp_, x); nextStamp_ += 1.0; return spinUntil([&]() { return info_->size() > before; }); } @@ -244,9 +257,13 @@ TEST_F(CoreWrapperPlanningTest, plans_through_the_graph_beyond_the_local_radius) /** * The same corridor, with the node on the tests' own clock (use_sim_time): map -> odom is * then stamped in the odometry's time base, and with tf_tolerance at 0, exactly at the - * clock's time. Only for tests whose TF lookups never have to wait: with a clock that only - * moves when told to, a lookup waiting for a transform that is not there -- a goal in an - * unknown frame, say -- would wait forever. + * clock's time. The clock is set to each update's stamp before it is sent. A TF lookup + * waits on that clock (tf2_ros sleeps on it since Rolling/Lyrical): frozen, a lookup that + * has to wait never returns, even once its transform is there. Each update's transform is + * then sent first, the clock and some time for the node's listener after it, the odometry + * last, so that its lookup never has to wait. Only for tests whose lookups find their + * transform: one for a transform that is not there -- a goal in an unknown frame, say -- + * would wait forever. */ class CoreWrapperPlanningSimTimeTest : public CoreWrapperPlanningTest { @@ -257,6 +274,13 @@ protected: rclcpp::Parameter("tf_tolerance", 0.0)}; } + void sendUpdate(double stamp, double x, double yaw = 0.0) override + { + publishTf(makeTransform("odom", "base_link", stamp, x, 0.0, yaw)); + setClock(stamp); + odom_->publish(makeOdometry(stamp, x, 0.0, yaw)); + } + /// Sets the node's clock to @p seconds. void setClock(double seconds) { @@ -278,7 +302,7 @@ TEST_F(CoreWrapperPlanningSimTimeTest, transforms_a_goal_in_the_robot_frame_to_t { // Turn the robot to face +y where it stands, at x = 2. const size_t before = info_->size(); - sendOdom(odom_, nextStamp_, 2.0, 0.0, M_PI/2.0); + sendUpdate(nextStamp_, 2.0, M_PI/2.0); ASSERT_TRUE(spinUntil([&]() { return info_->size() > before; })); rclcpp::Publisher::SharedPtr goal = diff --git a/rtabmap_slam/test/test_shutdown.py b/rtabmap_slam/test/test_shutdown.py new file mode 100644 index 00000000..bb8ccce3 --- /dev/null +++ b/rtabmap_slam/test/test_shutdown.py @@ -0,0 +1,112 @@ +""" +Ctrl-C on `ros2 launch` leaves rtabmap's database complete. + +Ctrl-C sends SIGINT to the whole process group, and `ros2 launch` then sends its own +SIGINT to each node: rtabmap gets two. It saves what it kept in memory only -- the +optimized graph, the links added to nodes already in the database -- when it closes the +database, so it has to survive the second SIGINT until then. +""" + +import os +import signal +import sqlite3 +import subprocess +import time +from pathlib import Path + +import rclpy +from geometry_msgs.msg import TransformStamped +from nav_msgs.msg import Odometry +from rclpy.qos import QoSProfile +from rtabmap_msgs.msg import Info +from tf2_msgs.msg import TFMessage + +LAUNCH_FILE = Path(__file__).parent / 'rtabmap_odom_only.launch.py' +NODES = 5 + + +def _odometry(stamp: float, x: float): + """odom -> base_link at @p x, as TF and as an odometry message, the way the C++ + tests' sendOdom() sends them.""" + tf = TransformStamped() + tf.header.frame_id = 'odom' + tf.header.stamp.sec = int(stamp) + tf.child_frame_id = 'base_link' + tf.transform.translation.x = x + tf.transform.rotation.w = 1.0 + odom = Odometry() + odom.header = tf.header + odom.child_frame_id = 'base_link' + odom.pose.pose.position.x = x + odom.pose.pose.orientation.w = 1.0 + odom.pose.covariance = [0.001 if i % 7 == 0 else 0.0 for i in range(36)] + odom.twist.covariance = odom.pose.covariance + return TFMessage(transforms=[tf]), odom + + +def _spin_until(node, done, timeout: float) -> bool: + end = time.monotonic() + timeout + while time.monotonic() < end: + if done(): + return True + rclpy.spin_once(node, timeout_sec=0.05) + return done() + + +def _map(node, launch): + """Drives NODES odometry updates into rtabmap, waiting for each to be processed.""" + tf_pub = node.create_publisher(TFMessage, '/tf', QoSProfile(depth=100)) + odom_pub = node.create_publisher(Odometry, 'odom', 10) + info = [] + node.create_subscription(Info, 'info', info.append, 10) + started = lambda: (launch.poll() is not None or ( # noqa: E731 + odom_pub.get_subscription_count() > 0 and tf_pub.get_subscription_count() > 0 + and node.count_publishers('info') > 0)) + assert _spin_until(node, started, 60.0) and launch.poll() is None, 'rtabmap did not start' + # Matched on this side only: rtabmap's side matches on its own time, and until then + # its best-effort subscription (Fast DDS's default) drops what it is sent, and it + # does not publish info, having no subscriber. + _spin_until(node, lambda: False, 1.0) + for i in range(NODES): + tf, odom = _odometry(1.0 + i, 0.5 * i) + tf_pub.publish(tf) + odom_pub.publish(odom) + assert _spin_until(node, lambda: len(info) > i, 10.0), f'update {i} was not processed' + + +def test_ctrl_c_saves_the_database(tmp_path): + database = tmp_path / 'rtabmap.db' + log_path = tmp_path / 'launch.log' + with open(log_path, 'w') as log: + launch = subprocess.Popen( + ['ros2', 'launch', str(LAUNCH_FILE), f'database_path:={database}', + f'working_directory:={tmp_path}'], + stdout=log, stderr=subprocess.STDOUT, start_new_session=True) + rclpy.init() + try: + node = rclpy.create_node('rtabmap_slam_test_shutdown') + try: + _map(node, launch) + finally: + node.destroy_node() + os.killpg(launch.pid, signal.SIGINT) # Ctrl-C + launch.wait(timeout=60) + except AssertionError as e: + raise AssertionError(f'{e}\n{log_path.read_text()}') from None + finally: + rclpy.try_shutdown() + if launch.poll() is None: + os.killpg(launch.pid, signal.SIGKILL) + launch.wait() + log = log_path.read_text() + + assert 'process has finished cleanly' in log, log + with sqlite3.connect(database) as db: + optimized = db.execute('SELECT opt_poses FROM Admin').fetchone()[0] + # Each neighbor link is in both directions; new -> old goes in with the new node, + # old -> new is added to a node already saved, and is written at closing. + forward, backward = ( + db.execute(f'SELECT COUNT(*) FROM Link WHERE type = 0 AND from_id {op} to_id') + .fetchone()[0] for op in ('<', '>')) + assert optimized, 'no optimized graph saved' + assert (forward, backward) == (NODES - 1, NODES - 1) diff --git a/rtabmap_sync/doc/rgb_sync.md b/rtabmap_sync/doc/rgb_sync.md index 54b48bdc..58ec0a7a 100644 --- a/rtabmap_sync/doc/rgb_sync.md +++ b/rtabmap_sync/doc/rgb_sync.md @@ -70,6 +70,7 @@ The output's `header.frame_id` comes from the camera_info; its `header.stamp` is | `approx_sync` | `bool` | `false` | Match the image and its calibration by nearest stamp. Defaults to **exact**; see [Synchronization](#synchronization). | | `approx_sync_max_interval` | `double` | `0.0` | Reject pairs spanning more than this many seconds. `0` disables. | | `topic_queue_size` | `int` | `10` | Queue depth of each input subscription. | +| `output_queue_size` | `int` | `1` | History depth of the `rgbd_image` publishers. | | `sync_queue_size` | `int` | `10` | Queue depth of the synchronizer. | | `queue_size` | `int` | — | **Deprecated**, renamed to `sync_queue_size`. | | `qos` | `int` | `0` | Reliability of the subscription and the publishers: `0` system default, `1` reliable, `2` best effort. | diff --git a/rtabmap_sync/doc/rgbd_sync.md b/rtabmap_sync/doc/rgbd_sync.md index f32e13fc..2259a985 100644 --- a/rtabmap_sync/doc/rgbd_sync.md +++ b/rtabmap_sync/doc/rgbd_sync.md @@ -124,6 +124,7 @@ The output's `header.stamp` is the **later** of the color and depth stamps, so t | `approx_sync` | `bool` | `true` | Match the inputs by nearest stamp. **Set `false` if your camera allows it** — see [Synchronization](#synchronization). | | `approx_sync_max_interval` | `double` | `0.0` | Reject sets spanning more than this many seconds. `0` disables. Worth setting; see [Synchronization](#synchronization). | | `topic_queue_size` | `int` | `10` | Queue depth of each input subscription. | +| `output_queue_size` | `int` | `1` | History depth of the `rgbd_image` publishers. | | `sync_queue_size` | `int` | `10` | Queue depth of the synchronizer. | | `queue_size` | `int` | — | **Deprecated**, renamed to `sync_queue_size`. Still copied to it, with a warning. | | `qos` | `int` | `0` | Reliability of the subscriptions and the publishers: `0` system default, `1` reliable, `2` best effort. | diff --git a/rtabmap_sync/doc/stereo_sync.md b/rtabmap_sync/doc/stereo_sync.md index 8d790179..33d6c9f8 100644 --- a/rtabmap_sync/doc/stereo_sync.md +++ b/rtabmap_sync/doc/stereo_sync.md @@ -103,6 +103,7 @@ The output's `header.frame_id` comes from the **left** camera_info, and its `hea | `approx_sync` | `bool` | `false` | Match the inputs by nearest stamp. Defaults to **exact** here; see [Synchronization](#synchronization). | | `approx_sync_max_interval` | `double` | `0.0` | Reject sets spanning more than this many seconds. `0` disables. Only meaningful with `approx_sync`. | | `topic_queue_size` | `int` | `10` | Queue depth of each input subscription. | +| `output_queue_size` | `int` | `1` | History depth of the `rgbd_image` publishers. | | `sync_queue_size` | `int` | `10` | Queue depth of the synchronizer. | | `queue_size` | `int` | — | **Deprecated**, renamed to `sync_queue_size`. | | `qos` | `int` | `0` | Reliability of the subscriptions and the publishers: `0` system default, `1` reliable, `2` best effort. | diff --git a/rtabmap_sync/src/nodelets/rgb_sync.cpp b/rtabmap_sync/src/nodelets/rgb_sync.cpp index adab2b2c..3da278d3 100644 --- a/rtabmap_sync/src/nodelets/rgb_sync.cpp +++ b/rtabmap_sync/src/nodelets/rgb_sync.cpp @@ -63,6 +63,7 @@ RGBSync::RGBSync(const rclcpp::NodeOptions & options) : approxSync = this->declare_parameter("approx_sync", approxSync); approxSyncMaxInterval = this->declare_parameter("approx_sync_max_interval", approxSyncMaxInterval); topicQueueSize = this->declare_parameter("topic_queue_size", topicQueueSize); + int outputQueueSize = this->declare_parameter("output_queue_size", 1); int queueSize = this->declare_parameter("queue_size", -1); if(queueSize != -1) { @@ -83,6 +84,7 @@ RGBSync::RGBSync(const rclcpp::NodeOptions & options) : if(approxSync) RCLCPP_INFO(this->get_logger(), "%s: approx_sync_max_interval = %f", get_name(), approxSyncMaxInterval); RCLCPP_INFO(this->get_logger(), "%s: topic_queue_size = %d", get_name(), topicQueueSize); + RCLCPP_INFO(this->get_logger(), "%s: output_queue_size = %d", get_name(), outputQueueSize); RCLCPP_INFO(this->get_logger(), "%s: sync_queue_size = %d", get_name(), syncQueueSize); RCLCPP_INFO(this->get_logger(), "%s: qos = %d", get_name(), qos); RCLCPP_INFO(this->get_logger(), "%s: qos_camera_info = %d", get_name(), qosCaminfo); @@ -90,8 +92,8 @@ RGBSync::RGBSync(const rclcpp::NodeOptions & options) : RCLCPP_INFO(this->get_logger(), "%s: image_transport = %s", get_name(), imageTransport.c_str()); RCLCPP_INFO(this->get_logger(), "%s: fill_empty_depth = %s", get_name(), fillEmptyDepth_?"true":"false"); - rgbdImagePub_ = this->create_publisher("rgbd_image", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos)); - rgbdImageCompressedPub_ = this->create_publisher("rgbd_image/compressed", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos)); + rgbdImagePub_ = this->create_publisher("rgbd_image", rclcpp::QoS(outputQueueSize).reliability((rmw_qos_reliability_policy_t)qos)); + rgbdImageCompressedPub_ = this->create_publisher("rgbd_image/compressed", rclcpp::QoS(outputQueueSize).reliability((rmw_qos_reliability_policy_t)qos)); if(approxSync) { diff --git a/rtabmap_sync/src/nodelets/rgbd_sync.cpp b/rtabmap_sync/src/nodelets/rgbd_sync.cpp index 988c3c2b..5528f194 100644 --- a/rtabmap_sync/src/nodelets/rgbd_sync.cpp +++ b/rtabmap_sync/src/nodelets/rgbd_sync.cpp @@ -62,6 +62,7 @@ RGBDSync::RGBDSync(const rclcpp::NodeOptions & options) : approxSync = this->declare_parameter("approx_sync", approxSync); approxSyncMaxInterval_ = this->declare_parameter("approx_sync_max_interval", approxSyncMaxInterval_); topicQueueSize = this->declare_parameter("topic_queue_size", topicQueueSize); + int outputQueueSize = this->declare_parameter("output_queue_size", 1); int queueSize = this->declare_parameter("queue_size", -1); if(queueSize != -1) { @@ -103,6 +104,7 @@ RGBDSync::RGBDSync(const rclcpp::NodeOptions & options) : if(approxSync) RCLCPP_INFO(this->get_logger(), "%s: approx_sync_max_interval = %f", get_name(), approxSyncMaxInterval_); RCLCPP_INFO(this->get_logger(), "%s: topic_queue_size = %d", get_name(), topicQueueSize); + RCLCPP_INFO(this->get_logger(), "%s: output_queue_size = %d", get_name(), outputQueueSize); RCLCPP_INFO(this->get_logger(), "%s: sync_queue_size = %d", get_name(), syncQueueSize); RCLCPP_INFO(this->get_logger(), "%s: qos = %d", get_name(), qos); RCLCPP_INFO(this->get_logger(), "%s: qos_camera_info = %d", get_name(), qosCamInfo); @@ -112,8 +114,8 @@ RGBDSync::RGBDSync(const rclcpp::NodeOptions & options) : RCLCPP_INFO(this->get_logger(), "%s: image_transport = %s", get_name(), imageTransport.c_str()); RCLCPP_INFO(this->get_logger(), "%s: depth_transport = %s", get_name(), depthTransport.c_str()); - rgbdImagePub_ = this->create_publisher("rgbd_image", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos)); - rgbdImageCompressedPub_ = this->create_publisher("rgbd_image/compressed", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos)); + rgbdImagePub_ = this->create_publisher("rgbd_image", rclcpp::QoS(outputQueueSize).reliability((rmw_qos_reliability_policy_t)qos)); + rgbdImageCompressedPub_ = this->create_publisher("rgbd_image/compressed", rclcpp::QoS(outputQueueSize).reliability((rmw_qos_reliability_policy_t)qos)); if(approxSync) { diff --git a/rtabmap_sync/src/nodelets/stereo_sync.cpp b/rtabmap_sync/src/nodelets/stereo_sync.cpp index a688e85c..aec5002e 100644 --- a/rtabmap_sync/src/nodelets/stereo_sync.cpp +++ b/rtabmap_sync/src/nodelets/stereo_sync.cpp @@ -59,6 +59,7 @@ StereoSync::StereoSync(const rclcpp::NodeOptions & options) : approxSync = this->declare_parameter("approx_sync", approxSync); approxSyncMaxInterval_ = this->declare_parameter("approx_sync_max_interval", approxSyncMaxInterval_); topicQueueSize = this->declare_parameter("topic_queue_size", topicQueueSize); + int outputQueueSize = this->declare_parameter("output_queue_size", 1); int queueSize = this->declare_parameter("queue_size", -1); if(queueSize != -1) { @@ -77,14 +78,15 @@ StereoSync::StereoSync(const rclcpp::NodeOptions & options) : RCLCPP_INFO(this->get_logger(), "%s: approx_sync = %s", get_name(), approxSync?"true":"false"); RCLCPP_INFO(this->get_logger(), "%s: approx_sync_max_interval = %f", get_name(), approxSyncMaxInterval_); RCLCPP_INFO(this->get_logger(), "%s: topic_queue_size = %d", get_name(), topicQueueSize); + RCLCPP_INFO(this->get_logger(), "%s: output_queue_size = %d", get_name(), outputQueueSize); RCLCPP_INFO(this->get_logger(), "%s: sync_queue_size = %d", get_name(), syncQueueSize); RCLCPP_INFO(this->get_logger(), "%s: qos = %d", get_name(), qos); RCLCPP_INFO(this->get_logger(), "%s: qos_camera_info = %d", get_name(), qosCamInfo); RCLCPP_INFO(this->get_logger(), "%s: compressed_rate = %f", get_name(), compressedRate_); RCLCPP_INFO(this->get_logger(), "%s: image_transport = %s", get_name(), imageTransport.c_str()); - rgbdImagePub_ = create_publisher("rgbd_image", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos)); - rgbdImageCompressedPub_ = create_publisher("rgbd_image/compressed", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos)); + rgbdImagePub_ = create_publisher("rgbd_image", rclcpp::QoS(outputQueueSize).reliability((rmw_qos_reliability_policy_t)qos)); + rgbdImageCompressedPub_ = create_publisher("rgbd_image/compressed", rclcpp::QoS(outputQueueSize).reliability((rmw_qos_reliability_policy_t)qos)); if(approxSync) { diff --git a/rtabmap_sync/test/node_test_utils.hpp b/rtabmap_sync/test/node_test_utils.hpp index ff1c0b78..7d892951 100644 --- a/rtabmap_sync/test/node_test_utils.hpp +++ b/rtabmap_sync/test/node_test_utils.hpp @@ -32,6 +32,11 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. #include +#include +#include + +#include + #include #include #include @@ -65,11 +70,38 @@ public: } }; +/** + * @brief Prints the stack of a test binary that crashes, then crashes as it would have. + * + * A crash in CI shows only the return code otherwise (-11 for SIGSEGV), there being no + * debugger or core dump there. Library frames come with their function names; this + * binary's with an offset, for `addr2line -C -f -e `. + */ +inline void printStackOnCrash(int signal) +{ + void * frames[64]; + const int count = ::backtrace(frames, 64); + const char header[] = "\n*** Crashed, stack trace:\n"; + if(::write(STDERR_FILENO, header, sizeof(header) - 1) < 0) {} + ::backtrace_symbols_fd(frames, count, STDERR_FILENO); + std::signal(signal, SIG_DFL); + std::raise(signal); +} + /// Registers RclcppEnvironment. Call once at file scope in each test binary. inline ::testing::Environment * registerRclcppEnvironment() { - static ::testing::Environment * const env = - ::testing::AddGlobalTestEnvironment(new RclcppEnvironment); + static ::testing::Environment * const env = []() { + // backtrace() loads libgcc on its first call, which is not safe in a signal + // handler: done here. + void * frame; + ::backtrace(&frame, 1); + for(int signal : {SIGSEGV, SIGBUS, SIGFPE, SIGILL, SIGABRT}) + { + std::signal(signal, printStackOnCrash); + } + return ::testing::AddGlobalTestEnvironment(new RclcppEnvironment); + }(); return env; } diff --git a/rtabmap_util/doc/lidar_deskewing.md b/rtabmap_util/doc/lidar_deskewing.md index 64dafa66..d9d19123 100644 --- a/rtabmap_util/doc/lidar_deskewing.md +++ b/rtabmap_util/doc/lidar_deskewing.md @@ -65,7 +65,8 @@ Output names are derived from the **resolved** input names, so remapping the inp | `fixed_frame_id` | `string` | `""` | **Required.** Frame the motion is measured against, usually `odom`. | | `wait_for_transform` | `double` | `0.01` | Seconds to wait for the transforms spanning the sweep. Raise it if odometry lags the lidar. | | `slerp` | `bool` | `false` | Interpolate between the poses at the start and end of the sweep instead of looking up TF per point. Much cheaper, and accurate enough at constant velocity. | -| `queue_size` | `int` | `1` | Queue depth of the input subscriptions. | +| `queue_size` | `int` | `5` | Queue depth of the input subscriptions. | +| `output_queue_size` | `int` | `1` | History depth of the deskewed cloud publishers. | | `qos` | `int` | `0` | Reliability of the input subscriptions: `0` system default, `1` reliable, `2` best effort. | ## Requirements diff --git a/rtabmap_util/src/nodelets/lidar_deskewing.cpp b/rtabmap_util/src/nodelets/lidar_deskewing.cpp index 518b6f8e..bea32039 100644 --- a/rtabmap_util/src/nodelets/lidar_deskewing.cpp +++ b/rtabmap_util/src/nodelets/lidar_deskewing.cpp @@ -19,6 +19,8 @@ LidarDeskewing::LidarDeskewing(const rclcpp::NodeOptions & options) : int queueSize = 5; int qos = RMW_QOS_POLICY_RELIABILITY_SYSTEM_DEFAULT; queueSize = this->declare_parameter("queue_size", queueSize); + int outputQueueSize = 1; + outputQueueSize = this->declare_parameter("output_queue_size", outputQueueSize); qos = this->declare_parameter("qos", qos); fixedFrameId_ = this->declare_parameter("fixed_frame_id", fixedFrameId_); waitForTransformDuration_ = this->declare_parameter("wait_for_transform", waitForTransformDuration_); @@ -36,8 +38,8 @@ LidarDeskewing::LidarDeskewing(const rclcpp::NodeOptions & options) : subScan_ = create_subscription("input_scan", rclcpp::QoS(queueSize).reliability((rmw_qos_reliability_policy_t)qos), std::bind(&LidarDeskewing::callbackScan, this, std::placeholders::_1)); subCloud_ = create_subscription("input_cloud", rclcpp::QoS(queueSize).reliability((rmw_qos_reliability_policy_t)qos), std::bind(&LidarDeskewing::callbackCloud, this, std::placeholders::_1)); - pubScan_ = create_publisher(std::string(subScan_->get_topic_name()) + "/deskewed", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos)); - pubCloud_ = create_publisher(std::string(subCloud_->get_topic_name()) + "/deskewed", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos)); + pubScan_ = create_publisher(std::string(subScan_->get_topic_name()) + "/deskewed", rclcpp::QoS(outputQueueSize).reliability((rmw_qos_reliability_policy_t)qos)); + pubCloud_ = create_publisher(std::string(subCloud_->get_topic_name()) + "/deskewed", rclcpp::QoS(outputQueueSize).reliability((rmw_qos_reliability_policy_t)qos)); } LidarDeskewing::~LidarDeskewing() diff --git a/rtabmap_util/test/node_test_utils.hpp b/rtabmap_util/test/node_test_utils.hpp index 1031c1c1..7e2af13d 100644 --- a/rtabmap_util/test/node_test_utils.hpp +++ b/rtabmap_util/test/node_test_utils.hpp @@ -31,6 +31,11 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. #include #include + +#include +#include + +#include #include #include #include @@ -71,11 +76,38 @@ public: } }; +/** + * @brief Prints the stack of a test binary that crashes, then crashes as it would have. + * + * A crash in CI shows only the return code otherwise (-11 for SIGSEGV), there being no + * debugger or core dump there. Library frames come with their function names; this + * binary's with an offset, for `addr2line -C -f -e `. + */ +inline void printStackOnCrash(int signal) +{ + void * frames[64]; + const int count = ::backtrace(frames, 64); + const char header[] = "\n*** Crashed, stack trace:\n"; + if(::write(STDERR_FILENO, header, sizeof(header) - 1) < 0) {} + ::backtrace_symbols_fd(frames, count, STDERR_FILENO); + std::signal(signal, SIG_DFL); + std::raise(signal); +} + /// Registers RclcppEnvironment. Call once at file scope in each test binary. inline ::testing::Environment * registerRclcppEnvironment() { - static ::testing::Environment * const env = - ::testing::AddGlobalTestEnvironment(new RclcppEnvironment); + static ::testing::Environment * const env = []() { + // backtrace() loads libgcc on its first call, which is not safe in a signal + // handler: done here. + void * frame; + ::backtrace(&frame, 1); + for(int signal : {SIGSEGV, SIGBUS, SIGFPE, SIGILL, SIGABRT}) + { + std::signal(signal, printStackOnCrash); + } + return ::testing::AddGlobalTestEnvironment(new RclcppEnvironment); + }(); return env; } diff --git a/rtabmap_viz/src/GuiWrapper.cpp b/rtabmap_viz/src/GuiWrapper.cpp index 61fd4f72..7aacdefb 100644 --- a/rtabmap_viz/src/GuiWrapper.cpp +++ b/rtabmap_viz/src/GuiWrapper.cpp @@ -102,7 +102,9 @@ GuiWrapper::GuiWrapper(const rclcpp::NodeOptions & options) : uSleep(500); prefDialog_ = new PreferencesDialogROS(this, configFile, rtabmapNodeName_); mainWindow_ = new MainWindow(prefDialog_); - mainWindow_->setWindowTitle(mainWindow_->windowTitle()+" [ROS]"); + // The configuration file in the title, as rviz does: it is where the settings are + // saved, so which one is in use matters. + mainWindow_->setWindowTitle(mainWindow_->windowTitle()+" [ROS] - "+prefDialog_->getIniFilePath()); mainWindow_->show(); bool paused = false;