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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_util/doc/lidar_deskewing.md
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@@ -65,7 +65,8 @@ Output names are derived from the **resolved** input names, so remapping the inp
| `fixed_frame_id` | `string` | `""` | **Required.** Frame the motion is measured against, usually `odom`. |
| `wait_for_transform` | `double` | `0.01` | Seconds to wait for the transforms spanning the sweep. Raise it if odometry lags the lidar. |
| `slerp` | `bool` | `false` | Interpolate between the poses at the start and end of the sweep instead of looking up TF per point. Much cheaper, and accurate enough at constant velocity. |
| `queue_size` | `int` | `1` | Queue depth of the input subscriptions. |
| `queue_size` | `int` | `5` | Queue depth of the input subscriptions. |
| `output_queue_size` | `int` | `1` | History depth of the deskewed cloud publishers. |
| `qos` | `int` | `0` | Reliability of the input subscriptions: `0` system default, `1` reliable, `2` best effort. |
## Requirements