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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/src/nodelets/lidar_deskewing.cpp
+4 -2
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@@ -19,6 +19,8 @@ LidarDeskewing::LidarDeskewing(const rclcpp::NodeOptions & options) :
int queueSize = 5;
int qos = RMW_QOS_POLICY_RELIABILITY_SYSTEM_DEFAULT;
queueSize = this->declare_parameter("queue_size", queueSize);
int outputQueueSize = 1;
outputQueueSize = this->declare_parameter("output_queue_size", outputQueueSize);
qos = this->declare_parameter("qos", qos);
fixedFrameId_ = this->declare_parameter("fixed_frame_id", fixedFrameId_);
waitForTransformDuration_ = this->declare_parameter("wait_for_transform", waitForTransformDuration_);
@@ -36,8 +38,8 @@ LidarDeskewing::LidarDeskewing(const rclcpp::NodeOptions & options) :
subScan_ = create_subscription<sensor_msgs::msg::LaserScan>("input_scan", rclcpp::QoS(queueSize).reliability((rmw_qos_reliability_policy_t)qos), std::bind(&LidarDeskewing::callbackScan, this, std::placeholders::_1));
subCloud_ = create_subscription<sensor_msgs::msg::PointCloud2>("input_cloud", rclcpp::QoS(queueSize).reliability((rmw_qos_reliability_policy_t)qos), std::bind(&LidarDeskewing::callbackCloud, this, std::placeholders::_1));
pubScan_ = create_publisher<sensor_msgs::msg::PointCloud2>(std::string(subScan_->get_topic_name()) + "/deskewed", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos));
pubCloud_ = create_publisher<sensor_msgs::msg::PointCloud2>(std::string(subCloud_->get_topic_name()) + "/deskewed", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos));
pubScan_ = create_publisher<sensor_msgs::msg::PointCloud2>(std::string(subScan_->get_topic_name()) + "/deskewed", rclcpp::QoS(outputQueueSize).reliability((rmw_qos_reliability_policy_t)qos));
pubCloud_ = create_publisher<sensor_msgs::msg::PointCloud2>(std::string(subCloud_->get_topic_name()) + "/deskewed", rclcpp::QoS(outputQueueSize).reliability((rmw_qos_reliability_policy_t)qos));
}
LidarDeskewing::~LidarDeskewing()