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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_slam/src/CoreNode.cpp
+5
View File
@@ -99,6 +99,11 @@ int main(int argc, char** argv)
executor.add_node(node);
UINFO("rtabmap %s started...", RTABMAP_VERSION);
executor.spin();
// Close the database before rclcpp::shutdown(), which uninstalls the signal
// handlers: a second SIGINT (e.g., Ctrl-C then ros2 launch's own) would otherwise
// kill the node while it is still saving.
executor.remove_node(node);
node.reset();
rclcpp::shutdown();
return 0;
}
rtabmap_slam/src/CoreWrapper.cpp
+3 -3
View File
@@ -176,7 +176,7 @@ CoreWrapper::CoreWrapper(const rclcpp::NodeOptions & options) :
odomFrameIdInit = this->declare_parameter("odom_frame_id_init", odomFrameIdInit); // set to publish map->odom TF before receiving odom topic
mapFrameId_ = this->declare_parameter("map_frame_id", mapFrameId_);
groundTruthFrameId_ = this->declare_parameter("ground_truth_frame_id", groundTruthFrameId_);
groundTruthBaseFrameId_ = this->declare_parameter("ground_truth_base_frame_id", frameId_);
groundTruthBaseFrameId_ = this->declare_parameter("ground_truth_base_frame_id", frameId_+"_gt");
if(!odomFrameIdInit.empty())
{
@@ -2131,7 +2131,7 @@ void CoreWrapper::process(
SensorData interData(cv::Mat(), cv::Mat(), rtabmap::CameraModel(), -1, rtabmap_conversions::timestampFromROS(iter->first.header.stamp));
Transform gt;
if(!groundTruthFrameId_.empty())
if(!groundTruthFrameId_.empty() && !groundTruthBaseFrameId_.empty())
{
gt = rtabmap_conversions::getTransform(groundTruthFrameId_, groundTruthBaseFrameId_, iter->first.header.stamp, *tfBuffer_, waitForTransform_);
}
@@ -2185,7 +2185,7 @@ void CoreWrapper::process(
//Add async stuff
Transform groundTruthPose;
if(!groundTruthFrameId_.empty())
if(!groundTruthFrameId_.empty() && !groundTruthBaseFrameId_.empty())
{
groundTruthPose = rtabmap_conversions::getTransform(groundTruthFrameId_, groundTruthBaseFrameId_, stamp, *tfBuffer_, waitForTransform_);
}