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rtabmap_conversions tests and doc (#1449)

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* Initial tests

* more tests

* More in-depth deskew() testing

* slightly less verbose clamping corruption warning

* added tf buffer related tests

* added remaining tests

* Added rosdoc2, improve tests when we require sync of odom stamp and sensor stamp

* cleanup doc

* fixing ci
This commit is contained in:
matlabbe
2026-09-06 17:23:42 -07:00
committed by GitHub
parent 1e6edb4579
commit f77dda2b58
11 changed files with 4456 additions and 77 deletions
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.github/workflows/ros2.yml
+5 -5
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@@ -25,24 +25,24 @@ jobs:
include:
- ros_distro: humble
skip_keys: ''
packages: 'rtabmap_ros'
packages: 'rtabmap_ros rtabmap_conversions'
- ros_distro: jazzy
skip_keys: ''
packages: 'rtabmap_ros'
packages: 'rtabmap_ros rtabmap_conversions'
- ros_distro: kilted
skip_keys: 'grid_map_ros'
packages: 'rtabmap_ros'
packages: 'rtabmap_ros rtabmap_conversions'
- ros_distro: lyrical
skip_keys: 'nav2_bringup nav2_msgs velodyne grid_map_ros realsense2_camera libpointmatcher'
# rtabmap_costmap_plugins cannot be built, missing nav2 on lyrical, build other packages:
packages: 'rtabmap_launch rtabmap_demos rtabmap_python rtabmap_examples rtabmap_rviz_plugins'
packages: 'rtabmap_launch rtabmap_demos rtabmap_python rtabmap_examples rtabmap_rviz_plugins rtabmap_conversions'
- ros_distro: rolling
# libpointmatcher and gtsam are rtabmap deps not yet available on rolling
# (same skip keys as introlab/rtabmap's cmake-ros workflow)
skip_keys: 'nav2_bringup nav2_msgs velodyne libpointmatcher gtsam'
use_ros2_testing: true # Rolling is using ros2-testing (nightly)
# 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'
packages: 'rtabmap_launch rtabmap_demos rtabmap_python rtabmap_examples rtabmap_rviz_plugins rtabmap_conversions'
fail-fast: false
container:
image: osrf/ros:${{ matrix.ros_distro }}-desktop-full