Replace the standalone reproducer with registered C++ GoogleTests for 2D and 3D scan recovery. Use real ROS inputs, separate DDS domains and bounded timeouts, and include rtabmap_slam in supported CI and coverage jobs.
Validated on Jazzy with RTAB-Map core 9ed83a7: both negative controls fail map recovery without the unlocks; both pass with the fix, followed by five repeated runs per case (10/10 passed). Broader distro CI has not been run locally.
* rtabmap_odom tests and doc
* opengv note
* added ci checks or humble-latest flaky dep cmake errors
* Added real data tests for rgbd_odom and stereo_odom
* added real data for icp_odometry's deskewing test
* fixing json cmake error on lyrical/rolling
* test 2d icp odom deskewing branch
* first review of existing OdometryROS tests
* testing with imu used as guess
* tested imu arrivals sync
* Fixed odom reset on right pose when guess frame id is used
* fixing header errors in ci >=lyrical
* Added support for input rgbd_image topic with features for odom, added multicam rgbd_odometry test
* Added stereo odom support for features-only frames. Added multicam stereo tests.
* forcing latest rtabmap version
* updated OdometryROS API
* ci: dont build non-latest docker in pull requests
* splitting docker jobs
* doc edit
* Making publish_null_when_lost:=false continous when guess is provided (using guess covariance when we cannot register yet)
* updated stereo doc
* ficing rolling ci (rviz Ogre header)
* Added test coverage of alll rgbd_image callbacks
* fixing rolling ci
* making docker ci build/run the tests on pull requests
* fixing ros2 ci testing
* improved sync callback coverage
* improving stereo_odometry test coverage
* improved icp_odometry test coverage
* lyrical voxel_grid ptr error
* make multicam tests working as well without opengv
* removing deps of missing packages on rolling
* PCL empty cloud conversion compiler errors fix
* fixing icp_odometry test failure on ci witohut libpointmatcher
* fixing nav2 costmap plugin build on lyrical
* joining thread when exiting
* updating icp test to work the same on pcl 1.15 (lyrical)
* Fix parallel tests seg fault
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Co-authored-by: mathieu86 <[email protected]>
* Lyrical support
* removed dep not available on lyrical
* updated docker lyrcical
* making cmake less verbose, disabled tests on rtabmap_python
* cleanup not used tests in rtabmap_python
* addressing some lyrical deprecated warnings
* cancel pr jobs on recommit
* small refactor
* disabled lyrical bin docker
* restored python test and fixed error
* trigger ci
* fixing docker lyrical
* disabled rtabmap_ros lyrical
* pytest
* fixing packages-skip
* bump 0.23.7
* 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
* Adding ROS2 Kilted to CI
* updated ros2 ci workflow
* updated version of action-ros-ci
* Updated dev containers, fixed kilted build
* Added git autocompletion
Matthew Kotara