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Author SHA1 Message Date
matlabbe f5bbcd9838 backup changes before I forget 2025-04-29 20:01:42 -07:00
matlabbe ed14d90b63 Testing double buffer implementation 2025-03-31 20:27:27 -07:00
matlabbe f5a3e48705 lidar3d examples: added gps_topic argument 2025-03-30 14:17:34 -07:00
matlabbe e661abb884 GPS and global pose async topics buffered to get more accuratly the closest value to current update stamp in case there is significant delay. 2025-03-30 14:15:09 -07:00
matlabbe a2f2971094 Updated lidar3d examples (and new 2x lidars example) 2025-03-29 21:29:46 -07:00
matlabbe f8102301da Merge branch 'master' of github.com:introlab/rtabmap_ros into ros2 2025-03-29 14:56:54 -07:00
matlabbe 001df6a17d GUI/Download map: Fixed parameters not read when downloading map 2025-03-29 14:52:04 -07:00
matlabbe a1e204afdb Merge branch 'master' of github.com:introlab/rtabmap_ros into ros2 2025-03-29 12:54:50 -07:00
matlabbe b0916ad14c imu_to_tf: fixed fixed_frame to base_frame orientation when IMU's frame z axis is not up accordingly to base frame 2025-03-29 12:36:43 -07:00
matlabbe e1e2ce5ece Update README.md 2025-03-29 11:58:39 -07:00
matlabbe 3ed09452f6 Update docker-ros2.yml 2025-03-23 09:44:31 -07:00
matlabbe 8c1513bc3b cherry pick https://github.com/introlab/rtabmap_ros/commit/70ddb3fc839394a5b440fee56f1877c508d6b9ea 2025-03-22 21:14:47 -07:00
matlabbe 70ddb3fc83 Fixed occupancy grid reset in localization mode when we update parameters live, losing optimized map if we had one. 2025-03-22 21:09:28 -07:00
matlabbe 3b5766361d Update docker-ros2.yml 2025-03-17 16:05:07 -07:00
matlabbe d9564b35b1 CI: reverted to use latest ubuntu base image (docker ros2) 2025-03-04 18:39:44 -08:00
matlabbe 89cbdf7e43 CI: Update docker-ros2.yml 
Trying known working build on ubuntu 20.04: see #1285
 2025-03-04 14:59:25 -08:00
matlabbe 970d06307f CI: Update docker-ros2.yml 
Related to #1285
 2025-03-04 14:15:10 -08:00
matlabbe e04a2dfcae CI: enabling jazzy build 2025-03-01 21:02:50 -08:00
matlabbe f77b3cdfc1 Updated readme 2025-03-01 20:58:54 -08:00
matlabbe 81d99d2c1c Improved rgbdslam_datasets.launch.py to re-use vo features in back-end (#1277), also added ground truth recording. 2025-03-01 17:43:22 -08:00
matlabbe 5e22c31b7f Merge branch 'master' of github.com:introlab/rtabmap_ros into ros2 2025-03-01 16:18:10 -08:00
matlabbe 12e61a952e bump required min rtabmap version 2025-03-01 15:53:54 -08:00
matlabbe c4a596f800 Support any frame_id in initialpose #1273 2025-03-01 15:50:39 -08:00
matlabbe a57b2971f2 fixed last commit 2025-02-21 16:41:24 -08:00
matlabbe 887695298a Updated OdomInfo msg with upstream new stats 2025-02-21 16:31:16 -08:00
matlabbe e561bd190f Updated clearpath lidar3d demos with workaround from https://github.com/gazebosim/gz-sim/issues/2743 2025-02-16 21:14:26 -08:00
matlabbe a4dafb6ba5 bump 0.21.10 (merged master) 2025-02-12 19:27:01 -08:00
matlabbe 59390d8199 bump 0.21.10 2025-02-12 19:25:32 -08:00
matlabbe 856b2340b9 Added delete_db_on_start parameter to be usable with ComposableNode (#1058). 2025-02-03 20:59:28 -08:00
matlabbe cbd3088eba merged master->ros2 2024-12-14 12:01:25 -08:00
matlabbe ef8ec4357d Fixed vo reset from guess (after being lost) not correctly updated if it is still lost after auto reset countdown 2024-12-13 14:33:35 -08:00
matlabbe 633422e65c merged master->ros2 2024-12-07 18:08:46 -08:00
matlabbe 01b8ab80ee refactored last commit 2024-12-07 17:47:36 -08:00
matlabbe 9a4c585d5e Fixed https://github.com/introlab/rtabmap/issues/1399 2024-12-07 17:26:46 -08:00
matlabbe 42b0b49f5b Update README.md 2024-12-01 17:45:11 -08:00
matlabbe 9197e99447 merged master->ros2 2024-12-01 16:17:03 -08:00
matlabbe 3bdbcdf393 Follow-up of previous commit to convert all float64 timestamps correctly 2024-12-01 16:14:47 -08:00
matlabbe 3a782a7e0f Merge branch 'master' of github.com:introlab/rtabmap_ros into fixing_sync_and_delays 2024-12-01 15:04:29 -08:00
matlabbe e5667b280a Deskewing: add support for timestamp float64 field in nanoseconds (Livox) 2024-12-01 14:36:14 -08:00
matlabbe 6f81a8f70f missing 0.21.9 bump 2024-12-01 10:55:09 -08:00
matlabbe 7ca3a95899 bump 0.21.9 remaining packages 2024-12-01 10:50:39 -08:00
matlabbe d12f73af6a bump 0.21.9 2024-12-01 10:46:41 -08:00
matlabbe 723ac7cdba CI: ros2 branch, only build for humble (all deps working) 2024-11-30 19:58:41 -08:00
matlabbe 5c81b95c59 Updated ros2 CI workflows 2024-11-30 17:51:16 -08:00
matlabbe 3f6adad463 ROS2 various QOL updates (preparing new binary release) (#1225) 
* Updating examples and README

* updated main readme

* odom: Added always_check_imu_tf parameter. sync: increased default sync_queue_size from 2 to 5 (to be more flexible to different hardware), added input and output diagnostics. rtabmap_viz: fixed node with same name redeclared warning.

* update readme

* Added husky demo

* converted demo_robot_mapping.launch to ros2

* Converted stereo_outdoor demo from ros1 to ros2

* Converted multi-session demo to ros2

* Converted demo_find_object launch to ros2

* renamed files

* uniformized default qos, increased sync_queue_size default to 10

* Added vlp16 + imu example

* Added husky 3D lidar demos

* moved demos in subdir

* Added vlp16+zed example

* rtabmap_viz: ignore odom update if tf not ready when not using topic (to avoid showing red screen). Added champ VSLAM demo.

* forwarded camera_model arg for zed examples, removed qos for turtlebot4 demo

* pointcloud_to_depthimage: added more error logs, removed output camera_info published twice and match ros1 namespaces

* Created two base general examples for 3D lidar usage, then create hardware specific examples on top of them.

* Added isaac sim demo

* Final update of all demos. Fixed MapCloud rviz plugin crashing when floor/ceiling filtering is used and resulting cloud is empty.

* Fixed 2d scan deskewing output frame, moved nav2 params under "params" folder, added number of topics processed/dropped for odometry, added icp_odometry option for turtlebot3 scan-only demo.

* rtabmap_demos: added README with examples

* Added TOC

* bump version to 0.21.9
 2024-11-30 17:28:16 -08:00
matlabbe debfb0759e Applying https://github.com/introlab/rtabmap_ros/pull/1233 to ros1 2024-10-31 20:37:38 -07:00
matlabbe ddd5e195ca Update README.md 2024-10-19 21:10:08 -07:00
matlabbe 817417e116 Update README.md 2024-10-19 21:07:51 -07:00
matlabbe ad97f56d0b Multithreaded rtabmap node (#1214) 
* Multi-threaded rtabmap node

* Moved data sync logic inside CoreWrapper to process odometry topics outside processing thread

* updated commend

* re-enabled jazzy

* disabled jazzy for this mr

* Added async callbackgroup for imu and landmark topics

* Making all shared variables thread-safe
 2024-10-15 21:00:35 -07:00
matlabbe c3f7cfeaca fixed build with RTAB-Map 0.21.8 2024-10-08 20:18:42 -07:00
matlabbe 1950b95bf5 fixed typo 2024-10-08 20:18:00 -07:00
matlabbe e76cbed924 Fixed build with RTAB-Map 0.21.8 (and grid_map_core dep) 2024-10-08 20:03:14 -07:00
matlabbe 7819fd4790 Fixed #1216 2024-10-05 16:03:43 -07:00
matlabbe c21b0ee84e map_assembler node is now available on ROS2 2024-09-11 23:45:55 -07:00
matlabbe 28f997477a Fixed #1207 2024-09-09 23:26:06 -07:00
matlabbe 9deb8a2a81 Fixed #1198 2024-09-05 22:04:20 -07:00
matlabbe 18f2788a37 zed.launch.py: Fixed use_zed_odometry arg behavior 2024-09-05 21:05:50 -07:00
matlabbe dac04faef0 zed example: added use_zed_odometry option 2024-09-04 19:38:05 -07:00
matlabbeandBorong Yuan c956e3780f Fixing topic sync lagging and delay issues, more examples (depthai, zed) (#1206) 
* Fixed odometry latency

* Fixed node ID=0 issues as msgs may not have seq. (#1202)

(cherry picked from commit 097cab0667)

* Odom: removed long processing from ros callbacks (decreasing delay, also making delay independent of the message filters topic_queue_size and sync_queue_size parameters)

* Changed a log from info->debug

* Changed a log from info->debug

* Updated default topic and sync queue_size inside nodes. Exposing topic and sync queue size params in warning when cannot synchronize. Added zed and depthai examples. Odom: Fixed imu callback group, added multi-threaded executors for all odometry nodes.

* fixed merge

* Include everything needed in example launch files for simple launch. Small fixes.

---------

Co-authored-by: Borong Yuan <yuanborong@hotmail.com>
 2024-09-04 00:46:44 -07:00
matlabbe 76f1c50d19 Changed a log from info->debug 2024-09-03 18:02:54 -07:00
matlabbe 1e7df7e276 Changed a log from info->debug 2024-09-03 17:23:11 -07:00
matlabbe fc1387f784 Odom: removed long processing from ros callbacks (decreasing delay, also making delay independent of the message filters topic_queue_size and sync_queue_size parameters) 2024-09-03 17:18:06 -07:00
matlabbe 268609b0b7 Update README.md 2024-09-01 15:47:59 -07:00
matlabbe 10ddeee4d0 Fixed #1201 2024-08-24 14:04:39 -07:00
matlabbe 3aacddb3d6 merged master -> ros2 2024-07-21 16:29:49 -07:00
matlabbe a97efff760 Fixed #1186 2024-07-21 16:20:34 -07:00
matlabbe 57dd787a58 merged master -> ros2 2024-06-30 19:42:31 -07:00
matlabbe 76c6a1fa8f examples: added missing exec_depend imu_complementary_filter for euroc_datasets.launch example (#1179) 2024-06-30 20:31:23 +00:00
matlabbe 9c7927c449 devcontainer: update comment 2024-06-30 20:13:58 +00:00
matlabbe 304636527e Updated turtlebot4 demo to be more robust to long corridors 2024-06-30 12:09:06 -07:00
matlabbe bed3081435 turtlebot4 demo: added odom_sensor_sync and added description to fix lidar/cloud misalignment. 2024-06-29 19:44:23 -07:00
matlabbe c0d219cce4 fixed description typos 2024-06-29 18:44:26 -07:00
matlabbe 5d3b567fad Added turtlebot4 demo launch files 2024-06-29 18:42:20 -07:00
matlabbe eee311d4b6 ci: jazzy should be disabled 2024-06-29 17:01:19 -07:00
matlabbe 9a86ce9c90 rtabmap.launch.py: added options to connect to nav2 (through goal_pose topic or action server). RVIZ/MapCloud: fixed downloading option. rtabmap node: all services are now in node namespace. Added dev containers for Humble and Jazzy. 2024-06-29 16:55:58 -07:00
matlabbe fdd13c31f9 Make rtabmap_viz fails during cmake when rtabmap is not built with gui component 2024-06-15 14:22:56 -07:00
matlabbe d3d874c862 merged master->ros2 2024-06-12 22:51:30 -07:00
matlabbe ae44e1a215 Split queue_size param into sync_queue_size and topic_queue_size parameters for more fine tuning of topic synchronization (#1054) 2024-06-11 22:35:54 -07:00
matlabbe 9ced85d5f8 Added dev container 2024-06-11 21:45:33 -07:00
matlabbe 911e4e8941 Making nav2_msgs optional (not available yet on jazzy). Fixed compilation errors on jazzy with vision_opencv related h->hpp headers. 2024-06-04 22:42:06 -07:00
matlabbe b8741910e4 Update Dockerfile 2024-06-04 18:19:29 -07:00
matlabbe 9e3c746e11 jazzy: fixed docker error 2024-06-04 11:43:14 -07:00
matlabbe c3e27cfaf5 point_cloud_xyzrgb: add support for SGBM parameters 2024-06-04 11:33:01 -07:00
matlabbe a8cefa9a4d yaml_to_camera_info: support yaml format writen by opencv 2024-06-04 11:32:27 -07:00
matlabbe 12489b3fbe Enabled jazzy-latest docker 2024-06-03 20:07:47 -07:00
matlabbe 4a5430c467 CI typo 2024-06-02 10:55:19 -07:00
matlabbe ead695d2b8 CI: updated ros2 workflow description 2024-06-02 10:54:00 -07:00
matlabbe 54f9ec9c39 Fixed diagnostic clock with sim time. Updated docker example with explicit OMP_WAIT_POLICY=passive to avoid high CPU usage. Added log_level argument to rtabmap.launch.py. 2024-06-02 10:49:52 -07:00
matlabbe 613b73f866 fix echo -e with sh 2024-06-01 17:10:19 -07:00
matlabbe 69c43300ab ci: updated base image 2024-06-01 17:00:51 -07:00
matlabbe db99ea0eb5 ci: updated base image 2024-06-01 16:57:01 -07:00
matlabbe ecf94e0e8d ci: update 2024-06-01 16:33:47 -07:00
matlabbe 2127a1711e ci: update 2024-06-01 16:27:47 -07:00
matlabbe 3b00ff2c0c ci: fixed checkout upstream 2024-06-01 16:20:34 -07:00
matlabbe 08d541319c ci: missing action checkout 2024-06-01 15:59:38 -07:00
matlabbe 9b6e9d6bbe ci: installing upstream rtabmap master from source 2024-06-01 15:45:36 -07:00
matlabbe 2a511b2787 ci: fixed fail-fast 2024-06-01 15:27:23 -07:00
matlabbe 0704e91d44 ci: using action-ros-ci 2024-06-01 15:24:39 -07:00
matlabbe 95875c872e CI: update shell command 2024-06-01 15:09:38 -07:00
matlabbe fe02ec3948 CI: added shell bash 2024-06-01 14:58:44 -07:00