mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-12 12:39:50 +08:00
rtabmap_demos tests and docs (#1462)
* rtabmap_demos tests and docs * added bag testing * added rtabmap_examples launch tests * updating demo bag download paths * added netherdrone demo * Fixed rgb-only callback with lidar rejected. Updated lidar params * Added back OrbitOriented rviz view to ros2, with optional octomap wll clipping * fixing ci * lidar demo added intermediate_nodes option * added netherdrone as demo test * running rtabmap_demos tests on ci * added rtabmap_launch tests, fixed ground_truth_base_frame_id usage * ficing rolling * updating demo test harnest * densify golden trajectories to avoid tf missing * fixing tf steps * updated min icp ratio for netherdrone demo * fixing image_transport arg->params * export pose opt=0 * lets process all frames * updated netherdrone golden * fixing publishers queue size just for tests * added playdback demo doc * Adding more logs to debug ci * Fixing QOS for CI to reliable, added find-object demo test * name threads * fixing camera info expected transient on lyrical/rolling. Fixing find_object not appearing idle * 30 Hz polling backward comp * fixing test tf sim lock * fixing lyrical qos bag parsing * faster replay * lockstep * fixing clock deadlock * Added test on shutdown * updated netherdrone golden poses * Extended stereo outdoor test * updated shutdown test * updated test * multi-thread flaky test * adding backtrace when test fails * increased closure slack for netherdrone * g2o gauss newton on stereo * adjusted maximum optimizer iterations * updated default iterations * Added netherdrone in list of demos
This commit is contained in:
matlabbe
+85
-12
@@ -25,30 +25,36 @@ jobs:
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include:
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- ros_distro: humble
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skip_keys: ''
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packages: 'rtabmap_ros rtabmap_conversions rtabmap_odom rtabmap_slam rtabmap_sync rtabmap_util rtabmap_python'
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packages: 'rtabmap_ros rtabmap_conversions rtabmap_odom rtabmap_slam rtabmap_sync rtabmap_util rtabmap_python rtabmap_launch rtabmap_examples rtabmap_demos'
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- ros_distro: jazzy
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skip_keys: ''
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packages: 'rtabmap_ros rtabmap_conversions rtabmap_odom rtabmap_slam rtabmap_sync rtabmap_util rtabmap_python'
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packages: 'rtabmap_ros rtabmap_conversions rtabmap_odom rtabmap_slam rtabmap_sync rtabmap_util rtabmap_python rtabmap_launch rtabmap_examples rtabmap_demos'
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- ros_distro: kilted
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skip_keys: 'grid_map_ros'
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packages: 'rtabmap_ros rtabmap_conversions rtabmap_odom rtabmap_slam rtabmap_sync rtabmap_util rtabmap_python'
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packages: 'rtabmap_ros rtabmap_conversions rtabmap_odom rtabmap_slam rtabmap_sync rtabmap_util rtabmap_python rtabmap_launch rtabmap_examples rtabmap_demos'
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- ros_distro: lyrical
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skip_keys: 'velodyne grid_map_ros libpointmatcher'
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packages: 'rtabmap_ros rtabmap_conversions rtabmap_odom rtabmap_slam rtabmap_sync rtabmap_util rtabmap_python'
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skip_keys: 'velodyne grid_map_ros libpointmatcher find_object_2d'
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packages: 'rtabmap_ros rtabmap_conversions rtabmap_odom rtabmap_slam rtabmap_sync rtabmap_util rtabmap_python rtabmap_launch rtabmap_examples rtabmap_demos'
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- ros_distro: rolling
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# Rolling has moved to Ubuntu resolute and much of it has not been rebuilt for
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# that yet, so rosdep finds nothing to install for these. They are all optional
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# to rtabmap, which just builds without them.
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skip_keys: 'velodyne libpointmatcher gtsam grid_map_ros'
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# to rtabmap, which just builds without them. nav2 is missing from resolute
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# too: optional to rtabmap_slam (nav2_msgs) and to the demos (nav2_bringup, for
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# the navigation demos only), but not to rtabmap_costmap_plugins, so it and the
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# rtabmap_ros metapackage, which pulls it in, are not built.
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skip_keys: 'velodyne libpointmatcher gtsam grid_map_ros nav2_msgs nav2_bringup nav2_costmap_2d find_object_2d'
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use_ros2_testing: true # Rolling is using ros2-testing (nightly)
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# nav2 is missing from resolute too, and it is not optional: rtabmap_slam and
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# rtabmap_costmap_plugins need it to compile at all, and the rtabmap_ros
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# metapackage pulls both in. So rolling names the packages it can build.
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packages: 'rtabmap_conversions rtabmap_odom rtabmap_sync rtabmap_util rtabmap_python'
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packages: 'rtabmap_conversions rtabmap_odom rtabmap_slam rtabmap_sync rtabmap_util rtabmap_python rtabmap_launch rtabmap_examples rtabmap_demos'
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fail-fast: false
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timeout-minutes: 180
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container:
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image: osrf/ros:${{ matrix.ros_distro }}-desktop-full
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steps:
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env:
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# Absolute and inside the container: ${{ github.workspace }} would be the
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# runner's path, not the container's.
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RTABMAP_DEMOS_TEST_DATA: /rtabmap_demos_test_data
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RTABMAP_DEMOS_TEST_RESULTS: /rtabmap_demos_test_results
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steps:
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- uses: actions/checkout@v4
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- uses: ros-tooling/[email protected]
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with:
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@@ -61,9 +67,76 @@ jobs:
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- run: |
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echo "repositories:\n introlab/rtabmap:\n type: git\n url: https://github.com/introlab/rtabmap.git\n version: master\n" > /tmp/deps.repos &&\
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cat /tmp/deps.repos
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# Build only: the tests are run below, the quick ones first, so that a failing unit
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# test shows before the demos' playback, which takes tens of minutes.
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- uses: ros-tooling/[email protected]
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with:
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package-name: ${{ matrix.packages }}
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target-ros2-distro: ${{ matrix.ros_distro }}
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vcs-repo-file-url: /tmp/deps.repos
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rosdep-skip-keys: "${{ matrix.skip_keys }}"
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skip-tests: true
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- name: Unit tests
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working-directory: ros_ws
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shell: bash
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run: |
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source /opt/ros/${{ matrix.ros_distro }}/setup.bash
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source install/setup.bash
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colcon test --packages-select ${{ matrix.packages }} \
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--event-handlers console_cohesion+ --ctest-args -E test_demo_playback
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colcon test-result --verbose
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# The demos' playback (rtabmap_demos/test/test_demo_playback.py) replays bags that
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# are assets of the rtabmap_ros GitHub releases, listed with their SHA-256 in
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# rtabmap_demos/test/data/manifest.txt. As rtabmap's own CI does with its test
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# databases (cmake-ros.yml), they are cached between runs, keyed on that manifest
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# only: every distro shares one entry, and a new or changed bag there fetches again.
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- name: Restore test data
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id: cache-testdata
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uses: actions/cache@v4
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with:
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path: /rtabmap_demos_test_data
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key: rtabmap-demos-test-data-${{ hashFiles('rtabmap_demos/test/data/manifest.txt') }}
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- name: Fetch test data
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if: steps.cache-testdata.outputs.cache-hit != 'true'
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shell: bash
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run: bash rtabmap_demos/test/fetch_test_data.sh
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# Without its bag, a scenario skips itself and the step would pass having replayed
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# nothing: check that every bag of the manifest is there.
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- name: Check test data
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shell: bash
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run: |
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missing=0
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while IFS=$'\t' read -r name url sha extracted; do
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[[ -z "${name// }" || "$name" =~ ^# ]] && continue
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file="$RTABMAP_DEMOS_TEST_DATA/${extracted:-$name}"
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if [[ ! -f "$file" ]]; then
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echo "::error::$file is missing (from $url)"
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missing=1
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fi
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done < rtabmap_demos/test/data/manifest.txt
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exit $missing
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# The golden graphs were made with humble: each scenario's tolerances
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# (test_demo_playback.py) absorb small differences between distros.
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- name: Demo playback tests
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working-directory: ros_ws
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shell: bash
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run: |
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source /opt/ros/${{ matrix.ros_distro }}/setup.bash
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source install/setup.bash
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colcon test --packages-select rtabmap_demos \
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--event-handlers console_cohesion+ --ctest-args -R test_demo_playback
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colcon test-result --verbose --test-result-base build/rtabmap_demos
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# Each scenario's launch log, graph and database, to see what went wrong.
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- name: Upload the playback results
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if: failure()
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uses: actions/upload-artifact@v4
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with:
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name: demo-playback-results-${{ matrix.ros_distro }}
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path: /rtabmap_demos_test_results
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retention-days: 7
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