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

rtabmap_rviz_plugins/CMakeLists.txt

@@ -30,6 +30,15 @@ find_package(tf2 REQUIRED)
 find_package(rtabmap_conversions REQUIRED)
 find_package(rtabmap_msgs REQUIRED)
 
+# Optional: wall clipping of the OrbitOriented view controller
+find_package(octomap QUIET)
+find_package(octomap_msgs QUIET)
+IF(octomap_FOUND AND octomap_msgs_FOUND)
+  MESSAGE(STATUS "WITH octomap (OrbitOriented's wall clipping)")
+ELSE()
+  MESSAGE(STATUS "WITHOUT octomap (OrbitOriented's wall clipping disabled)")
+ENDIF()
+
 include_directories(
   ${CMAKE_CURRENT_SOURCE_DIR}/include
 )
@@ -78,9 +87,11 @@ add_library(rtabmap_rviz_plugins SHARED
        src/MapCloudDisplay.cpp
        src/MapGraphDisplay.cpp
        src/InfoDisplay.cpp
+       src/OrbitOrientedViewController.cpp
        include/${PROJECT_NAME}/MapCloudDisplay.h
        include/${PROJECT_NAME}/MapGraphDisplay.h
        include/${PROJECT_NAME}/InfoDisplay.h
+       include/${PROJECT_NAME}/OrbitOrientedViewController.h
 )
 set_property(TARGET rtabmap_rviz_plugins PROPERTY AUTOMOC ON)
 target_include_directories(rtabmap_rviz_plugins
@@ -94,6 +105,19 @@ ELSE()
   target_link_libraries(rtabmap_rviz_plugins PRIVATE ${Libraries})
 ENDIF()
 
+IF(octomap_FOUND AND octomap_msgs_FOUND)
+  target_compile_definitions(rtabmap_rviz_plugins PRIVATE RTABMAP_RVIZ_PLUGINS_OCTOMAP)
+  target_include_directories(rtabmap_rviz_plugins PRIVATE ${OCTOMAP_INCLUDE_DIRS})
+  # octomap's config only sets variables. The same signature as above, as CMake
+  # requires for a target.
+  if("$ENV{ROS_DISTRO}" STRLESS "lyrical")
+    ament_target_dependencies(rtabmap_rviz_plugins octomap_msgs)
+    target_link_libraries(rtabmap_rviz_plugins ${OCTOMAP_LIBRARIES})
+  ELSE()
+    target_link_libraries(rtabmap_rviz_plugins PRIVATE octomap_msgs::octomap_msgs ${OCTOMAP_LIBRARIES})
+  ENDIF()
+ENDIF()
+
 # Causes the visibility macros to use dllexport rather than dllimport,
 # which is appropriate when building the dll but not consuming it.
 target_compile_definitions(rtabmap_rviz_plugins PRIVATE "RTABMAP_ROS_BUILDING_LIBRARY")