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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_odom/test/test_odometry_ros.cpp
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@@ -454,6 +454,63 @@ TEST_F(OdometryRosTest, starts_from_the_configured_initial_pose)
EXPECT_NEAR(3.0, odom->back().pose.pose.position.z, 1e-3);
}
/**
* With a ground truth frame, the odometry starts from the ground truth's first pose:
* ground_truth_frame_id -> ground_truth_base_frame_id, which defaults to frame_id + "_gt".
* Empty, ground_truth_base_frame_id turns the ground truth off.
*/
class OdometryRosGroundTruthTest : public OdometryRosTest
{
protected:
/// Latches world -> base_link_gt at (1, 2, 3), the only ground truth in TF.
void publishGroundTruth()
{
geometry_msgs::msg::TransformStamped gt;
gt.header.stamp = helper()->now();
gt.header.frame_id = "world";
gt.child_frame_id = "base_link_gt";
gt.transform.translation.x = 1.0;
gt.transform.translation.y = 2.0;
gt.transform.translation.z = 3.0;
gt.transform.rotation.w = 1.0;
gtTf_ = std::make_shared<tf2_ros::StaticTransformBroadcaster>(*helper());
gtTf_->sendTransform(gt);
}
/// The pose of the first frame, with the ground truth and @p params.
geometry_msgs::msg::Point firstPose(const std::vector<rclcpp::Parameter> & params)
{
publishSensorTf();
publishGroundTruth();
std::shared_ptr<Collector<nav_msgs::msg::Odometry>> odom =
collect<nav_msgs::msg::Odometry>("odom");
makeNode(params);
rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr pub = scanPublisher();
EXPECT_TRUE(waitForSubscriber(pub));
feedFrames(pub, odom, 1);
return odom->empty() ? geometry_msgs::msg::Point() : odom->back().pose.pose.position;
}
std::shared_ptr<tf2_ros::StaticTransformBroadcaster> gtTf_;
};
TEST_F(OdometryRosGroundTruthTest, starts_from_the_ground_truth_of_frame_id_gt_by_default)
{
geometry_msgs::msg::Point p = firstPose({rclcpp::Parameter("ground_truth_frame_id", "world")});
EXPECT_NEAR(1.0, p.x, 1e-3);
EXPECT_NEAR(2.0, p.y, 1e-3);
EXPECT_NEAR(3.0, p.z, 1e-3);
}
TEST_F(OdometryRosGroundTruthTest, ignores_the_ground_truth_when_its_base_frame_is_empty)
{
geometry_msgs::msg::Point p = firstPose({rclcpp::Parameter("ground_truth_frame_id", "world"),
rclcpp::Parameter("ground_truth_base_frame_id", "")});
EXPECT_NEAR(0.0, p.x, 1e-3);
EXPECT_NEAR(0.0, p.y, 1e-3);
EXPECT_NEAR(0.0, p.z, 1e-3);
}
/// reset_odom puts the pose back to the identity and starts the map again.
TEST_F(OdometryRosTest, reset_odom_returns_the_pose_to_the_origin)
{