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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
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matlabbe
2026-10-10 12:23:49 -07:00
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commit 82f0754bf7
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rtabmap_slam/doc/rtabmap.md
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@@ -485,7 +485,7 @@ The ones that set how often a node is added, explained in [Update rate and dropp
| `tf_tolerance` | `double` | `0.1` | How far in the future the transform is stamped, in seconds, so that lookups at the latest sensor stamp do not have to wait for it. |
| `wait_for_transform` | `double` | `0.2` | Seconds to wait for a TF lookup before giving up on it. |
| `ground_truth_frame_id` | `string` | `""` | The fixed frame of a ground truth system, for example `world` published by an external localization system like Vicon or OptiTrack. `ground_truth_frame_id` → `ground_truth_base_frame_id` is looked up and stored with each node, for evaluating a trajectory afterwards. |
| `ground_truth_base_frame_id` | `string` | value of `frame_id` | The robot frame in the ground truth tree, for example `base_link_gt`. To avoid breaking the TF tree, it represents the same frame as `frame_id`, but in a parallel TF tree, so that the robot frame does not get two parents. |
| `ground_truth_base_frame_id` | `string` | value of `frame_id` + `"_gt"` | The robot frame in the ground truth tree, for example `base_link_gt`. Empty: the ground truth is not used. To avoid breaking the TF tree, it represents the same frame as `frame_id`, but in a parallel TF tree, so that the robot frame does not get two parents. |
**This node publishes exactly one transform: `map` → `odom`.** It is the correction that puts the odometry frame where the optimized graph says it belongs — the identity until a loop closure moves it. Odometry keeps publishing `odom` → `base_link`, and the sensors must be attached to `base_link` in TF, as in the [TF tree](../README.md#frames-and-tf).