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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_sync/doc/rgb_sync.md
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@@ -59,7 +59,7 @@ ComposableNode(
| Topic | Type | Description |
|---|---|---|
| `rgbd_image` | [`rtabmap_msgs/msg/RGBDImage`](https://docs.ros.org/en/jazzy/p/rtabmap_msgs/msg/RGBDImage.html) | The image and its calibration. The depth slot is left empty unless `fill_empty_depth`. Published only when someone is subscribed. |
| `rgbd_image/compressed` | [`rtabmap_msgs/msg/RGBDImage`](https://docs.ros.org/en/jazzy/p/rtabmap_msgs/msg/RGBDImage.html) | The same frame with the image as JPEG. Published only when someone is subscribed. |
| `rgbd_image/compressed` | [`rtabmap_msgs/msg/RGBDImage`](https://docs.ros.org/en/jazzy/p/rtabmap_msgs/msg/RGBDImage.html) | The same frame with the image compressed, JPEG by default (see `image_compression_format`). Published only when someone is subscribed. |
The output's `header.frame_id` comes from the camera_info; its `header.stamp` is the image's.
@@ -77,6 +77,7 @@ The output's `header.frame_id` comes from the camera_info; its `header.stamp` is
| `qos_camera_info` | `int` | value of `qos` | Reliability of the `rgb/camera_info` subscription alone. |
| `fill_empty_depth` | `bool` | `false` | Add an all-zero depth image the size of the color one. See below. |
| `compressed_rate` | `double` | `0.0` | Maximum rate, in Hz, of `rgbd_image/compressed`. `0` means every frame. |
| `image_compression_format` | `string` | `".jpg"` | Format of the image in `rgbd_image/compressed`: `".jpg"` (lossy, smaller) or `".png"` (lossless, larger). An invalid value falls back to `".jpg"` with an error. |
| `image_transport` | `string` | `"raw"` | Transport for `rgb/image`, e.g. `compressed`. |
## fill_empty_depth