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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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rtabmap_odom/src/nodelets/icp_odometry.cpp
+3 -3
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@@ -333,7 +333,7 @@ void ICPOdometry::callbackScan(const sensor_msgs::msg::LaserScan::SharedPtr scan
{
// deskew with constant velocity model (we are in frameId)
sensor_msgs::msg::PointCloud2 scanOutDeskewed;
if(!rtabmap_conversions::deskew(scanOut, scanOutDeskewed, previousStamp(), velocityGuess()))
if(!rtabmap_conversions::deskew(scanOut, scanOutDeskewed, velocityGuess()))
{
RCLCPP_ERROR(this->get_logger(), "Failed to deskew input cloud, aborting odometry update!");
return;
@@ -362,7 +362,7 @@ void ICPOdometry::callbackScan(const sensor_msgs::msg::LaserScan::SharedPtr scan
{
// deskew with constant velocity model
sensor_msgs::msg::PointCloud2 scanOutDeskewed;
if(!rtabmap_conversions::deskew(scanOut, scanOutDeskewed, previousStamp(), velocityGuess()))
if(!rtabmap_conversions::deskew(scanOut, scanOutDeskewed, velocityGuess()))
{
RCLCPP_ERROR(this->get_logger(), "Failed to deskew input cloud, aborting odometry update!");
return;
@@ -583,7 +583,7 @@ void ICPOdometry::callbackCloud(const sensor_msgs::msg::PointCloud2::SharedPtr p
}
std::shared_ptr<sensor_msgs::msg::PointCloud2> cloudDeskewed(new sensor_msgs::msg::PointCloud2);
if(!rtabmap_conversions::deskew(*cloudPtr, *cloudDeskewed, previousStamp(), velocityGuess()))
if(!rtabmap_conversions::deskew(*cloudPtr, *cloudDeskewed, velocityGuess()))
{
RCLCPP_ERROR(this->get_logger(), "Failed to deskew input cloud, aborting odometry update!");
return;