i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-12 04:29:49 +08:00
Code Issues Packages Projects Releases Wiki Activity

rtabmap_demos tests and docs (#1462)

Browse Source 
* 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
2026-10-10 12:23:49 -07:00
committed by GitHub
parent cb2117f1ed
commit 82f0754bf7
80 changed files with 18405 additions and 98 deletions
Download Patch File Download Diff File Expand all files Collapse all files
rtabmap_demos/launch/multisession_mapping_demo.launch.py
+10 -10
View File
@@ -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
#