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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
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commit 82f0754bf7
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rtabmap_odom/README.md
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@@ -78,7 +78,7 @@ These apply to all three nodes.
| `wait_for_transform` | `double` | `0.1` | Seconds to wait for a needed transform before giving up on the frame. |
| `initial_pose` | `string` | `""` | Starting pose, `"x y z roll pitch yaw"`. Also settable at runtime through `reset_odom_to_pose`. |
| `ground_truth_frame_id` | `string` | `""` | When set, the pose is taken from this TF instead of being computed — for replaying a dataset with a known trajectory. |
| `ground_truth_base_frame_id` | `string` | value of `frame_id` | The robot frame within the ground truth TF tree. |
| `ground_truth_base_frame_id` | `string` | value of `frame_id` + `"_gt"` | The robot frame within the ground truth TF tree. Empty: the ground truth is not used. |
| `guess_frame_id` | `string` | `""` | A frame carrying another odometry source, used as the initial guess for each registration. Documented with its companions under [Feeding in an external guess](#feeding-in-an-external-guess) -- **the highest-value parameter here for a wheeled robot**. |
The sensor must be connected to `frame_id` in TF **before the first frame arrives**, or that frame is dropped with a warning. A static publisher is the usual answer.