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Supporting image compression formats passthrough (#1461)

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* Supporting ros depth compression formats passthrough

* Added image_compression_format (support jpg,png). Use Compression.h constants.

* Bridging gap with #1457

* CoreWrapper: decode_images_on_demand

* rgbd_sync->rgbd_split encoding/decoding test with image_transport validation. rgbd_split color passthrough

* more tests

* fixing ci on kilted+

* fixing test

* fixing lyrical tests

* fixing rolling ci

* Improved test coverage

* fixing some tf waitForTransform deadlocks when sim time is used in tests

* CI: build rtabmap_slam on rolling

rtabmap_slam builds without nav2_msgs, which is not on resolute yet: skip its
key instead of leaving the package out. Only rtabmap_costmap_plugins (and the
rtabmap_ros metapackage pulling it in) still need nav2.
This commit is contained in:
matlabbe
2026-10-10 16:05:08 -07:00
committed by GitHub
parent 82f0754bf7
commit cf7d7ab958
47 changed files with 3962 additions and 250 deletions
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rtabmap_odom/test/test_icp_odometry.cpp
+23
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@@ -4,6 +4,7 @@ All rights reserved. (BSD-3-Clause, see the repository root.)
*/
#include <gtest/gtest.h>
#include <rtabmap_msgs/msg/rgbd_image.hpp>
#include <tf2_ros/static_transform_broadcaster.hpp>
@@ -584,6 +585,28 @@ TEST_F(IcpOdometryTest, publishes_an_identity_pose_for_the_first_scan_cloud)
EXPECT_NEAR(0.0, msg.pose.pose.position.z, 1e-6);
}
/// Without a camera there is no RGBDImage to republish: odom_rgbd_image stays silent,
/// while the odometry itself is published.
TEST_F(IcpOdometryTest, does_not_publish_an_rgbd_image_without_a_camera)
{
publishSensorTf();
std::shared_ptr<Collector<nav_msgs::msg::Odometry>> odom =
collect<nav_msgs::msg::Odometry>("odom");
std::shared_ptr<Collector<rtabmap_msgs::msg::RGBDImage>> frames =
collect<rtabmap_msgs::msg::RGBDImage>("odom_rgbd_image");
makeNode(icpTestParameters());
rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr pub =
helper()->create_publisher<sensor_msgs::msg::PointCloud2>("scan_cloud", 10);
ASSERT_TRUE(waitForSubscriber(pub));
ASSERT_TRUE(waitForPublisher(frames->subscription));
pub->publish(makeXYZCloud("lidar", 1.0, corner3D()));
ASSERT_TRUE(spinUntil([&]() { return !odom->empty(); }));
spinFor(std::chrono::milliseconds(200));
EXPECT_TRUE(frames->empty());
}
/// A 2D lidar goes in on `scan` instead of `scan_cloud`, and reaches the same odometry.
TEST_F(IcpOdometryTest, accepts_a_laser_scan)
{