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Author SHA1 Message Date
matlabbe 2477bc21c3 Making odometry's services private (under odometry node namespace) like rtabmap node instead of being global. For example, "reset_odom" will be under "rgbd_odometry/reset_odom". Added new parameter for rtabmap_viz to call correctly odometry services, with "odometry_node_name" set to "rgbd_odometry" by default. 2025-10-19 17:02:25 -07:00
matlabbe 3b5a4ed675 Added error messages when subscribe_odom and odom_frame_id are both not set. rgb_sync: added option "fill_empty_depth" to add fake empty depth for monocular cameras. See also #1363 2025-10-18 13:59:55 -07:00
matlabbe bc5f0a7146 Data player multicam support (#1365) 
* Data player multicam support

* viewer: fixed pause button
 2025-09-28 13:37:07 -07:00
matlabbe 1c5df12674 Disabling missing grid_map_ros on kilted to pass CI 2025-09-25 18:46:35 -07:00
matlabbe 1a7403dbf6 merged master->ros2 2025-09-25 01:38:26 -07:00
matlabbe 4b0067d875 Fixed empty /map topic (regression from #1352) 2025-09-25 08:10:58 +00:00
matlabbe 6e84c77d90 Fixed regression #1361 added from #1352 2025-09-25 00:50:00 -07:00
matlabbeandmathieu86 46f4443baa Stale inputs detection (#1358) 
* Added stale_update_detection parameter to detect if upstream is stale for too long, trigger new map

* On too small guess motion, still publish odom topic along tf

* Added parameters when guess odom topic is sent

* fixed stale disabled logic

* Added info when odometry update is skipped.

* Making vo publishing the expected output data even if odometry update was skip by not enough motion

* fixed skipping odom

* refactored tooOldPreviousData to work with guess

* renamed stale_update_detection to staleness_factor

* cleanup

* reverting a change

---------

Co-authored-by: mathieu86 <mathieu@robust.ai>
 2025-09-23 14:10:57 -07:00
matlabbe bda8f16bb8 Ported data_player node to ROS2. Fixed camera publisher namespace in rgbd_split. 2025-09-21 17:08:11 -07:00
matlabbe 166f18c98f missing not staged change 2025-09-21 16:20:46 -07:00
matlabbe c19240884e Merge branch 'master' of github.com:introlab/rtabmap_ros into ros2 2025-09-21 13:44:51 -07:00
matlabbe 7d4de30ec7 data_player: added support for ground truth Tf publishing 2025-09-20 18:10:04 -07:00
matlabbe f9ad71a7af Updated README with examples of usage of the MIT stata center dataset based on jfr2018 paper. #1350 2025-09-18 04:43:24 +00:00
matlabbe 491a04b78b merged master->ros2 2025-09-14 18:41:31 -07:00
matlabbe f601fd43bf fixed some deprecated compiler warnings 2025-09-15 00:57:06 +00:00
matlabbe 3d827e002d Fixing internal VINS-fusion not in par to external vins fusion (#911) 2025-09-14 23:46:16 +00:00
matlabbe 3fa20f56fb Backporting ros2 commit 0ad034680b 2025-09-14 23:44:46 +00:00
matlabbe e355deca43 devcontainer: nopasswd for vscode user 2025-09-13 17:52:54 +00:00
matlabbe bed951751b Update README.md 
Fixed some hyperlinks
 2025-09-13 10:20:53 -07:00
matlabbe f64fb02eab Fixed imus ignored (bug previous commit) 2025-09-07 20:06:13 -07:00
matlabbe 0ad034680b Odom: added parameter "always_process_most_recent_frame" (default true like before) so that we can disable aggressive frame dropping in case input frames are published with flaky latency (e.g., with large rosbag having issue to replay in time topics) 2025-09-07 19:08:58 -07:00
matlabbe d3d3120804 merged master->ros2 2025-09-07 11:56:15 -07:00
matlabbe 3fd34c64f4 fixed typo 2025-09-07 11:49:38 -07:00
matlabbe deee14e1d2 Fixing map_cache_loaded_on_init loading anyway on first update (#1352) 2025-09-03 16:59:24 -07:00
matlabbe e9bed4a6b0 Fixed build against rtabmap 0.23 2025-09-02 14:28:55 -07:00
matlabbe ca4d33151c rtabmap node: added map_cache_loaded_on_init parameter (default true, like before) to avoid (when false) loading all local grids in cache on init (in case we know we are in localization mode and not using memory management) 2025-08-18 16:59:12 -07:00
matlabbe d23e3eef01 Resolving image_transport hints support (#1181) (#1348) 
* Resolving image_transport hints support (#1181)

* updated dev container to be able to install packages, updated comment
 2025-08-09 15:05:08 -07:00
matlabbe e37f95d1f9 Merge branch 'master' of github.com:introlab/rtabmap_ros into ros2 2025-08-04 20:07:08 -07:00
matlabbe ad785e2327 Support any number of distortion coefficients 2025-08-05 03:04:32 +00:00
matlabbe 7d3b524414 disabling velodyne dep for rolling in ros2 branch 2025-07-12 17:32:19 -07:00
matlabbe ca6a2c2ff7 bump 0.22.1 2025-07-12 17:18:44 -07:00
matlabbe 8d5af87d17 Fixed compilation errors on rolling (backward compatible for Humble) 2025-07-12 15:18:39 -07:00
matlabbe 0918c60dc1 Update README.md 2025-07-04 17:20:25 -07:00
matlabbe bc8123089e Added new demo turtlebot3_sim_rgbd_fake_scan_demo.launch.py 2025-07-04 16:59:24 -07:00
matlabbe b296ab4e75 merged master->ros2 2025-07-04 15:05:22 -07:00
matlabbe 42142de82c merged master->ros2 2025-07-04 15:02:12 -07:00
matlabbe 0ba59996e6 refactored time jump detection 2025-07-04 22:01:22 +00:00
matlabbe 3cc9db8f87 Odom reset on time jump in the past (#1333) 
* Odom reset on time jump

* Adding more logs to debug

* refactored

* dont skip frame on clock jump

* Making clock check independent of the topic stamp check

* fixed post check

* Making diagnostic more robust to time jump

* Added node name to warning

* make sync warning msg working in case of time jump

* not need to reset timer

* reset timer

* timer auto reset already

* typo

* Added more time checks to make sure we don't republish a tf frame with stamp from a topic in the future

* dont send tf if time jump happened while processing

* fixed errors

* addressing comments

* fixing time comparison
 2025-07-03 17:50:38 -07:00
matlabbe aa7f42a57e Adding aruco msgs input support (#1334) 
* Adding aruco msgs input support

* updated topic names
 2025-06-28 16:46:10 -07:00
matlabbe d336369ca4 Debug builtin interfaces issue (#1328) 
* debugging builtin_interfaces issue on arm64

* add logh

* cmake debug

* show arch

* refactored

* explicit find_library

* explicitly search builtin_interfaces__rosidl_generator_c

* fixing in rtabmap_slam

* rtabmap_sync

* openssl error

* rtabmap odom

* rtabmap_viz

* adding missing deps instead

* testing on all distros

* limit fix to humble-aarch64 build

* remvoed debug code

* Running aarch64 workaround for all distros

* message_filters error

* added cmake --debug-find

* using 2 threads

* reseting ros2 ci
 2025-06-16 19:20:21 -07:00
matlabbe 7472b019f9 Adding missing ros_enironment dep for buildfarm 2025-06-10 11:03:57 -07:00
matlabbe 600732f44b CI: skip explicitly keys for ros2 workflow 2025-06-10 10:46:34 -07:00
matlabbe 4291d5a18d CI: put back only rtabmap_ros to build 2025-06-10 08:39:16 -07:00
matlabbe a7d128f48e CI:humble: try rebuilding also rtabmap 2025-06-09 20:33:24 -07:00
matlabbe 62233708fb CI: humble: missing -y 2025-06-09 20:19:33 -07:00
matlabbe 7503064fe1 CI: humble revert uninstall rtabmap binaries 2025-06-09 20:17:00 -07:00
matlabbe 6cbee86626 CI: humble: force upgrade packages 2025-06-09 20:14:21 -07:00
matlabbe a74c3acda5 Added apriltag_msgs as package dependency 2025-06-08 19:54:30 -07:00
matlabbe fa342bd853 removed ros1 workflow 2025-06-08 16:15:37 -07:00
matlabbe 945101697a bump version 0.22.0 2025-06-08 16:01:18 -07:00
matlabbe 16d743afaf Merge branch 'master' of github.com:introlab/rtabmap_ros into ros2 2025-06-08 15:46:43 -07:00
matlabbe 29b4734cd7 merged master->ros2 2025-06-08 15:45:43 -07:00
matlabbe ba45ccd7a5 removed armv7 docker build 2025-06-08 15:44:17 -07:00
matlabbe 2f0ff06056 Updated dev container 2025-06-08 22:30:06 +00:00
matlabbe 50fe38ef6c Adding ROS2 Kilted to CI (#1322) 
* Adding ROS2 Kilted to CI

* updated ros2 ci workflow

* updated version of action-ros-ci

* Updated dev containers, fixed kilted build

* Added git autocompletion
 2025-06-08 15:01:07 -07:00
matlabbe 2d270e9c3c husky lidar3d demo: added option to disable camera 2025-06-07 17:06:02 -07:00
matlabbe aa1e17b1c1 Updated lidar3d examples with new option "rgbd_images_topic" to input multi-camera data. 2025-06-07 13:31:50 -07:00
matlabbe b6584b0a10 Fixed #1320 2025-06-01 16:57:15 -07:00
matlabbe 5676b9a69e Fixed build against latest rtabmap version 2025-05-26 16:16:36 -07:00
matlabbe 43d360ebb3 Fixed build with latest rtabmap version 2025-05-26 16:00:16 -07:00
matlabbe 6c6c41a7e2 Update README.md 
Added video links for some demos
 2025-05-10 14:15:40 -07:00
matlabbe e9fa89110c load_database srv: fixed Odom parameters missing warnings, fixed warning when existing parameters are the the same than loaded ones from new database. 2025-05-06 16:14:58 -07:00
matlabbe bea1eda713 README: added tip on CycloneDDS to disable multicast 2025-05-01 19:52:44 -07:00
matlabbe 4e6924979d lidar3d examples: fixed min_loop_closure_overlap parameter not converted to string. 2025-05-01 19:14:28 -07:00
matlabbe b7ce0b19c2 Update ros1.yml 2025-04-29 14:30:44 -07:00
matlabbe f122dbace5 bump 0.21.13 2025-04-27 15:22:34 -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