* rtabmap_demos tests and docs
* added bag testing
* added rtabmap_examples launch tests
* updating demo bag download paths
* added netherdrone demo
* Fixed rgb-only callback with lidar rejected. Updated lidar params
* Added back OrbitOriented rviz view to ros2, with optional octomap wll clipping
* fixing ci
* lidar demo added intermediate_nodes option
* added netherdrone as demo test
* running rtabmap_demos tests on ci
* added rtabmap_launch tests, fixed ground_truth_base_frame_id usage
* ficing rolling
* updating demo test harnest
* densify golden trajectories to avoid tf missing
* fixing tf steps
* updated min icp ratio for netherdrone demo
* fixing image_transport arg->params
* export pose opt=0
* lets process all frames
* updated netherdrone golden
* fixing publishers queue size just for tests
* added playdback demo doc
* Adding more logs to debug ci
* Fixing QOS for CI to reliable, added find-object demo test
* name threads
* fixing camera info expected transient on lyrical/rolling. Fixing find_object not appearing idle
* 30 Hz polling backward comp
* fixing test tf sim lock
* fixing lyrical qos bag parsing
* faster replay
* lockstep
* fixing clock deadlock
* Added test on shutdown
* updated netherdrone golden poses
* Extended stereo outdoor test
* updated shutdown test
* updated test
* multi-thread flaky test
* adding backtrace when test fails
* increased closure slack for netherdrone
* g2o gauss newton on stereo
* adjusted maximum optimizer iterations
* updated default iterations
* Added netherdrone in list of demos
* 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 <[email protected]>
Co-authored-by: matlabbe <[email protected]>
* 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
matlabbe