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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_util/package.xml
+5
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@@ -37,6 +37,11 @@
<depend>grid_map_ros</depend>
<test_depend>ament_cmake_gtest</test_depend>
<test_depend>ament_index_cpp</test_depend>
<test_depend>class_loader</test_depend>
<!-- image_transport plugins the tests read rgbd_split's outputs with -->
<test_depend>compressed_image_transport</test_depend>
<test_depend>compressed_depth_image_transport</test_depend>
<export>
<build_type>ament_cmake</build_type>