* 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
* Migrating tf to tf2
* Added ci action to test PR on ros1
* updated dev container with nvidia working
* backward compatibility with topics having frame_id with leading slash not allowed with tf2
* backward compatibility of leading slash for other tf2 buffers
* updated comment
* demo(turtlebot3): add FusionCore + icp_odometry feedback loop demo
Adds a TurtleBot3 Gazebo Harmonic demo (ref issue #1418 Option A) where
FusionCore (wheel + IMU UKF) and icp_odometry tighten each other in a
feedback loop: FusionCore's stable odom frame serves as the scan-match
initial guess via guess_frame_id, and the ICP result feeds back into
FusionCore as a second velocity source. rtabmap SLAM consumes the ICP
output for mapping/loop-closure. Nav2 uses /fusion/odom.
Files added:
launch/turtlebot3/fusioncore/turtlebot3_fusioncore_icp.launch.py
launch/turtlebot3/fusioncore/turtlebot3_sim_fusioncore_icp_demo.launch.py
launch/turtlebot3/fusioncore/README.md
params/fusioncore_tb3.yaml
params/fusioncore_tb3_bridge.yaml (TF-conflict-free bridge)
params/turtlebot3_fusioncore_icp_nav2_params.yaml
* demo(turtlebot3): add FusionCore demo entry to rtabmap_demos README
* fix(fusioncore-demo): remove Odom/ResetCountdown from rtabmap, strip GPS params
* docs(demos): add FusionCore icp_odometry demo GIF to README
* fix(fusioncore-demo): add imu.frame_id override and docking_server params
* fix(fusioncore-demo): remove docking_server from nav2 params
* Fixing turtlebot3 demos on Jazzy
* Updated humble
* Working turtlebot3 demos on humble and jazzy
* Fixed Twist->TwistStamped. Fixed rviz2 crashing because missing docking server
* demo(turtlebot3): add FusionCore + icp_odometry feedback loop demo
Adds a TurtleBot3 Gazebo Harmonic demo (ref issue #1418 Option A) where
FusionCore (wheel + IMU UKF) and icp_odometry tighten each other in a
feedback loop: FusionCore's stable odom frame serves as the scan-match
initial guess via guess_frame_id, and the ICP result feeds back into
FusionCore as a second velocity source. rtabmap SLAM consumes the ICP
output for mapping/loop-closure. Nav2 uses /fusion/odom.
Files added:
launch/turtlebot3/fusioncore/turtlebot3_fusioncore_icp.launch.py
launch/turtlebot3/fusioncore/turtlebot3_sim_fusioncore_icp_demo.launch.py
launch/turtlebot3/fusioncore/README.md
params/fusioncore_tb3.yaml
params/fusioncore_tb3_bridge.yaml (TF-conflict-free bridge)
params/turtlebot3_fusioncore_icp_nav2_params.yaml
* demo(turtlebot3): add FusionCore demo entry to rtabmap_demos README
* fix(fusioncore-demo): remove Odom/ResetCountdown from rtabmap, strip GPS params
* docs(demos): add FusionCore icp_odometry demo GIF to README
* fix(fusioncore-demo): add imu.frame_id override and docking_server params
* fix(fusioncore-demo): remove docking_server from nav2 params
* Fixing turtlebot3 demos on Jazzy
* Updated humble
* Fixed Twist->TwistStamped. Fixed rviz2 crashing because missing docking server
* fix(fusioncore-demo): tune IMU noise for Gazebo sim, add real-hardware comments
* docs(fusioncore-demo): add sim vs real hardware note to README
---------
Co-authored-by: manankharwar <manan.kharwar@ansys.com>
Co-authored-by: matlabbe <matlabbe@gmail.com>
* 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
matlabbe