Try fixing qt6-qt5 rtabmap-rviz-plugins build issue. (#1376)

* Try fixing qt6-qt5 rtabmap-rviz-plugins build issue. Disabled rtabmap-costmap-plugins for rolling.

* fixed ci

* Seems to fix the issue

* fixed rtabmap_python test failing

.github/workflows/ros2.yml

@@ -20,12 +20,17 @@ jobs:
         include:
         - ros_distro: humble
           skip_keys: ''
+          packages: 'rtabmap_ros'
         - ros_distro: jazzy
           skip_keys: ''
+          packages: 'rtabmap_ros'
         - ros_distro: kilted
           skip_keys: 'grid_map_ros'
+          packages: 'rtabmap_ros'
         - ros_distro: rolling
           skip_keys: 'nav2_bringup nav2_msgs velodyne'
+          # rtabmap_costmap_plugins cannot be built, missing nav2 on rolling, build other packages:
+          packages: 'rtabmap_launch rtabmap_demos rtabmap_python rtabmap_examples rtabmap_rviz_plugins'
       fail-fast: false
     container:
       image: osrf/ros:${{ matrix.ros_distro }}-desktop-full
@@ -39,7 +44,7 @@ jobs:
         cat /tmp/deps.repos
     - uses: ros-tooling/[email protected]
       with:
-        package-name: rtabmap_ros
+        package-name: ${{ matrix.packages }}
         target-ros2-distro: ${{ matrix.ros_distro }}
         vcs-repo-file-url: /tmp/deps.repos
         rosdep-skip-keys: "${{ matrix.skip_keys }}"

rtabmap_conversions/include/rtabmap_conversions/MsgConversion.h

@@ -29,7 +29,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #define MSGCONVERSION_H_
 
 #include "rclcpp/time.hpp"
-#include "tf2_ros/buffer.h"
+#include "tf2_ros/buffer.hpp"
 #include <geometry_msgs/msg/transform.hpp>
 #include <geometry_msgs/msg/pose.hpp>
 #include <geometry_msgs/msg/pose_with_covariance_stamped.hpp>

rtabmap_python/rtabmap_python/__init__.py

@@ -1,2 +1,27 @@
-
+# Copyright 2025 matlabbe
-
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+#    * Redistributions of source code must retain the above copyright
+#      notice, this list of conditions and the following disclaimer.
+#
+#    * Redistributions in binary form must reproduce the above copyright
+#      notice, this list of conditions and the following disclaimer in the
+#      documentation and/or other materials provided with the distribution.
+#
+#    * Neither the name of the matlabbe nor the names of its
+#      contributors may be used to endorse or promote products derived from
+#      this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.

rtabmap_python/rtabmap_python/compression.py

@@ -1,8 +1,38 @@
+# Copyright 2025 matlabbe
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+#    * Redistributions of source code must retain the above copyright
+#      notice, this list of conditions and the following disclaimer.
+#
+#    * Redistributions in binary form must reproduce the above copyright
+#      notice, this list of conditions and the following disclaimer in the
+#      documentation and/or other materials provided with the distribution.
+#
+#    * Neither the name of the matlabbe nor the names of its
+#      contributors may be used to endorse or promote products derived from
+#      this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
 
-import zlib
 import struct
+import zlib
+
 import numpy as np
 
+
 def compress(data):
     assert data.ndim == 1 or data.ndim == 2
 
@@ -14,21 +44,35 @@ def compress(data):
         dim1 = data.shape[0]
         dim2 = data.shape[1]
 
-    numpy_type_to_cvtype = {'uint8': 0, 'int8': 1, 'uint16': 2,
+    numpy_type_to_cvtype = {
-                            'int16': 3, 'int32': 4, 'float32': 5,
+        'uint8': 0,
-                            'float64': 6}
+        'int8': 1,
+        'uint16': 2,
+        'int16': 3,
+        'int32': 4,
+        'float32': 5,
+        'float64': 6,
+    }
 
     compressed_data = bytearray(zlib.compress(data.tobytes()))
-    compressed_data.extend(struct.pack("iii", dim1, dim2, numpy_type_to_cvtype[data.dtype.name]))
+    compressed_data.extend(
+        struct.pack('iii', dim1, dim2, numpy_type_to_cvtype[data.dtype.name])
+    )
 
     return compressed_data
 
-def uncompress(bytes):
+
-    cvtype_to_numpy_type = {0: 'uint8', 1: 'int8', 2: 'uint16',
+def uncompress(data):
-                            3: 'int16', 4: 'int32', 5: 'float32',
+    cvtype_to_numpy_type = {
-                            6: 'float64'}
+        0: 'uint8',
-    out = zlib.decompress(bytes[:len(bytes)-3*4])
+        1: 'int8',
-    rows, cols, datatype = struct.unpack_from("iii", bytes, offset=len(bytes)-3*4)
+        2: 'uint16',
+        3: 'int16',
+        4: 'int32',
+        5: 'float32',
+        6: 'float64',
+    }
+    out = zlib.decompress(data[: len(data) - 3 * 4])
+    rows, cols, datatype = struct.unpack_from('iii', data, offset=len(data) - 3 * 4)
     data = np.frombuffer(out, dtype=cvtype_to_numpy_type[datatype])
     return data.reshape((rows, cols))
-

rtabmap_python/setup.py

@@ -15,11 +15,11 @@ setup(
     zip_safe=True,
     maintainer='Mathieu Labbe',
     maintainer_email='[email protected]',
-    description='RTAB-Map\'s python package.',
+    description="RTAB-Map's python package.",
     license='BSD',
     tests_require=['pytest'],
     entry_points={
         'console_scripts': [
         ],
     },
-)
+)

rtabmap_ros/package.xml

@@ -26,6 +26,7 @@
   <exec_depend>rtabmap_sync</exec_depend>
   <exec_depend>rtabmap_util</exec_depend>
   <exec_depend>rtabmap_viz</exec_depend>
+  <exec_depend>rtabmap_costmap_plugins</exec_depend>
   
   <export>
     <build_type>ament_cmake</build_type>

rtabmap_rviz_plugins/CMakeLists.txt

@@ -18,6 +18,7 @@ find_package(ament_cmake_ros REQUIRED)
 find_package(pcl_conversions REQUIRED)
 find_package(pluginlib REQUIRED)
 find_package(rclcpp REQUIRED)
+find_package(QT NAMES Qt5 QUIET COMPONENTS Widgets)
 find_package(rviz_common REQUIRED)
 find_package(rviz_rendering REQUIRED)
 find_package(rviz_default_plugins REQUIRED)
@@ -45,9 +46,6 @@ SET(Libraries
   rtabmap_msgs
 )
 
-MESSAGE(STATUS "rtabmap_conversions=${rtabmap_conversions_LIBRARIES}")
-
-
 ###########
 ## Build ##
 ###########