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rtabmap_demos tests and docs (#1462)

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* 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
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matlabbe
2026-10-10 12:23:49 -07:00
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@@ -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,