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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/launch/rtabmap.launch.py
+9 -1
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@@ -84,7 +84,9 @@ def launch_setup(context, *args, **kwargs):
remappings=[
(['in/', LaunchConfiguration('rgb_image_transport')], [LaunchConfiguration('rgb_topic'), '/', LaunchConfiguration('rgb_image_transport')]),
('out', LaunchConfiguration('rgb_topic_relay'))],
# The transports: as arguments up to humble, as parameters from jazzy.
arguments=[LaunchConfiguration('rgb_image_transport'), 'raw'],
parameters=[{'in_transport': LaunchConfiguration('rgb_image_transport'), 'out_transport': 'raw'}],
namespace=LaunchConfiguration('namespace')),
Node(
package='image_transport', executable='republish', name='republish_depth',
@@ -92,7 +94,9 @@ def launch_setup(context, *args, **kwargs):
remappings=[
(['in/', LaunchConfiguration('depth_image_transport')], [LaunchConfiguration('depth_topic'), '/', LaunchConfiguration('depth_image_transport')]),
('out', LaunchConfiguration('depth_topic_relay'))],
# The transports: as arguments up to humble, as parameters from jazzy.
arguments=[LaunchConfiguration('depth_image_transport'), 'raw'],
parameters=[{'in_transport': LaunchConfiguration('depth_image_transport'), 'out_transport': 'raw'}],
namespace=LaunchConfiguration('namespace')),
Node(
package='rtabmap_sync', executable='rgbd_sync', name="rgbd_sync", output="screen",
@@ -120,7 +124,9 @@ def launch_setup(context, *args, **kwargs):
remappings=[
(['in/', LaunchConfiguration('rgb_image_transport')], [LaunchConfiguration('left_image_topic'), '/', LaunchConfiguration('rgb_image_transport')]),
('out', LaunchConfiguration('left_image_topic_relay'))],
# The transports: as arguments up to humble, as parameters from jazzy.
arguments=[LaunchConfiguration('rgb_image_transport'), 'raw'],
parameters=[{'in_transport': LaunchConfiguration('rgb_image_transport'), 'out_transport': 'raw'}],
namespace=LaunchConfiguration('namespace')),
Node(
package='image_transport', executable='republish', name='republish_right',
@@ -128,7 +134,9 @@ def launch_setup(context, *args, **kwargs):
remappings=[
(['in/', LaunchConfiguration('rgb_image_transport')], [LaunchConfiguration('right_image_topic'), '/', LaunchConfiguration('rgb_image_transport')]),
('out', LaunchConfiguration('right_image_topic_relay'))],
# The transports: as arguments up to humble, as parameters from jazzy.
arguments=[LaunchConfiguration('rgb_image_transport'), 'raw'],
parameters=[{'in_transport': LaunchConfiguration('rgb_image_transport'), 'out_transport': 'raw'}],
namespace=LaunchConfiguration('namespace')),
Node(
package='rtabmap_sync', executable='stereo_sync', name="stereo_sync", output="screen",
@@ -463,7 +471,7 @@ def generate_launch_description():
DeclareLaunchArgument('use_action_for_goal', default_value='false', description='Connect to nav2\'s navigate_to_pose action server instead of publishing the output goal topic.'),
DeclareLaunchArgument('ground_truth_frame_id', default_value='', description='e.g., "world"'),
DeclareLaunchArgument('ground_truth_base_frame_id', default_value='', description='e.g., "tracker", a fake frame matching the frame "frame_id" (but on different TF tree)'),
DeclareLaunchArgument('ground_truth_base_frame_id', default_value=[LaunchConfiguration('frame_id'), '_gt'], description='e.g., "tracker", a fake frame matching the frame "frame_id" (but on different TF tree). Empty: the ground truth is not used.'),
DeclareLaunchArgument('approx_sync', default_value='false', description='If timestamps of the input topics should be synchronized using approximate or exact time policy.'),
DeclareLaunchArgument('approx_sync_max_interval', default_value='0.0', description='(sec) 0 means infinite interval duration (used with approx_sync=true)'),