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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_launch/CMakeLists.txt
+14
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@@ -6,5 +6,19 @@ find_package(ament_cmake REQUIRED)
install(DIRECTORY launch
DESTINATION share/${PROJECT_NAME}
)
# The launch file test, also run by rtabmap_examples and rtabmap_demos on their own
# launch files.
install(FILES test/launch_dry_run.py test/test_launch_files.py
DESTINATION share/${PROJECT_NAME}/test
)
if(BUILD_TESTING)
find_package(ament_cmake_pytest REQUIRED)
# Dry-runs every installed launch file with each of its switches; nothing is started,
# so it needs no DDS domain of its own. See test/launch_dry_run.py.
ament_add_pytest_test(test_launch_files test/test_launch_files.py
ENV RTABMAP_LAUNCH_TEST_PACKAGE=${PROJECT_NAME}
TIMEOUT 900)
endif()
ament_package()