mirror of
https://github.com/introlab/rtabmap_ros.git
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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
Executable
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#!/usr/bin/env bash
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# Fetch the bags the demo playback tests replay, as listed in data/manifest.txt.
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# Same manifest format as rtabmap's scripts/fetch_test_data.sh. An entry with a
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# fourth column is a .zip, which is extracted into the data directory and then
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# removed, its SHA-256 being the one of the file it holds. Skips files that are
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# already present and whose SHA-256 matches the manifest.
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#
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# Usage: fetch_test_data.sh [basename...]
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# With no argument, fetches every entry of the manifest; otherwise only the named
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# ones (e.g. stereo_outdoorA_bag.zip), so a job can fetch just what it replays.
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#
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# The data goes next to the manifest, unless RTABMAP_DEMOS_TEST_DATA names another
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# directory (a CI cache, or a disk with room: the bags are several GB). The tests
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# read the same variable.
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set -euo pipefail
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SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
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MANIFEST="${SCRIPT_DIR}/data/manifest.txt"
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DEST_DIR="${RTABMAP_DEMOS_TEST_DATA:-${SCRIPT_DIR}/data}"
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if [[ ! -f "$MANIFEST" ]]; then
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echo "Error: manifest not found at $MANIFEST" >&2
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exit 1
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fi
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mkdir -p "$DEST_DIR"
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sha256_of() { sha256sum "$1" | awk '{print $1}'; }
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# unzip where there is one, python3's zipfile where there is not (slim ROS images).
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extract_zip() {
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local archive="$1"
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if command -v unzip >/dev/null 2>&1; then
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unzip -o -q "$archive" -d "$DEST_DIR"
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else
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python3 -m zipfile -e "$archive" "$DEST_DIR"
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fi
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}
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verify_sha() {
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local file="$1" expected="$2"
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if [[ "$expected" == "TODO_FILL_SHA256" || -z "$expected" ]]; then
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echo " (no SHA in manifest yet for $file; skipping integrity check)" >&2
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echo " sha256: $(sha256_of "$file")" >&2
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return 0
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fi
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local actual
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actual="$(sha256_of "$file")"
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if [[ "$actual" != "$expected" ]]; then
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echo " SHA mismatch for $file: expected $expected, got $actual" >&2
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return 1
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fi
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}
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wanted() {
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local name="$1"
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[[ $# -eq 0 || ${#REQUESTED[@]} -eq 0 ]] && return 0
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for r in "${REQUESTED[@]}"; do
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[[ "$r" == "$name" ]] && return 0
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done
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return 1
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}
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REQUESTED=("$@")
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found=()
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while IFS=$'\t' read -r name url expected_sha extracted; do
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name="${name%$'\r'}"
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url="${url%$'\r'}"
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expected_sha="${expected_sha%$'\r'}"
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extracted="${extracted-}"
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extracted="${extracted%$'\r'}"
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# Skip comments and blank lines.
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[[ -z "${name// }" || "$name" =~ ^# ]] && continue
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wanted "$name" || continue
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found+=("$name")
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target="$DEST_DIR/$name"
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# An archive is not kept once it is extracted, so what has to be there, and
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# what the sha is of, is the file it held.
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kept="${extracted:-$name}"
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if [[ -f "$DEST_DIR/$kept" ]] && verify_sha "$DEST_DIR/$kept" "$expected_sha" 2>/dev/null; then
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echo "Already up-to-date: $kept"
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continue
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fi
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echo "Fetching $name <- $url"
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# -L follows the redirect to the release storage, -f fails on HTTP errors, -S
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# shows errors on stderr. Retries cover the odd dropped connection on a GB file,
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# and -C - resumes a .partial an interrupted run left behind; the SHA check
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# below catches a partial that does not belong to this file.
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curl -fsSL --retry 3 --retry-delay 5 -C - "$url" -o "$target.partial"
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if [[ -z "$extracted" ]]; then
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if ! verify_sha "$target.partial" "$expected_sha"; then
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rm -f "$target.partial"
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exit 1
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fi
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mv -f "$target.partial" "$target"
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else
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mv -f "$target.partial" "$target"
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echo " Extracting $name"
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if ! extract_zip "$target"; then
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rm -f "$target"
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exit 1
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fi
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# The archive has served its purpose, and these are large files.
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rm -f "$target"
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if [[ ! -f "$DEST_DIR/$extracted" ]]; then
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echo " $name does not hold $extracted" >&2
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exit 1
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fi
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if ! verify_sha "$DEST_DIR/$extracted" "$expected_sha"; then
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rm -f "$DEST_DIR/$extracted"
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exit 1
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fi
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echo " Extracted $extracted ($(du -h "$DEST_DIR/$extracted" | cut -f1))"
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fi
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done < "$MANIFEST"
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for r in "${REQUESTED[@]}"; do
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if [[ ! " ${found[*]} " == *" $r "* ]]; then
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echo "Error: $r is not in $MANIFEST" >&2
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exit 1
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fi
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done
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echo "Test data ready under $DEST_DIR"
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