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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
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
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rtabmap_demos/package.xml
+22
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@@ -18,6 +18,28 @@
<exec_depend>rtabmap_rviz_plugins</exec_depend>
<exec_depend>rtabmap_viz</exec_depend>
<exec_depend>nav2_bringup</exec_depend>
<exec_depend>rtabmap_examples</exec_depend>
<exec_depend>imu_complementary_filter</exec_depend>
<exec_depend>find_object_2d</exec_depend>
<!-- scripts/find_object_to_landmarks.py -->
<exec_depend>rclpy</exec_depend>
<exec_depend>tf2_ros_py</exec_depend>
<exec_depend>rtabmap_msgs</exec_depend>
<test_depend>ament_cmake_pytest</test_depend>
<test_depend>ament_index_python</test_depend>
<test_depend>rtabmap_launch</test_depend>
<test_depend>launch</test_depend>
<test_depend>launch_ros</test_depend>
<test_depend>python3-pytest</test_depend>
<test_depend>python3-yaml</test_depend>
<test_depend>python3-numpy</test_depend>
<test_depend>python3-scipy</test_depend>
<test_depend>rclpy</test_depend>
<test_depend>rosbag2_py</test_depend>
<test_depend>rosgraph_msgs</test_depend>
<test_depend>rosidl_runtime_py</test_depend>
<test_depend>rtabmap_msgs</test_depend>
<export>
<build_type>ament_cmake</build_type>