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Author SHA1 Message Date
matlabbe 943d7e45a1 fixing ros2-testing apt source 2026-10-01 02:27:23 -07:00
matlabbe 18a5681655 make sure tests are done 2026-10-01 01:56:57 -07:00
matlabbe 5abf2dc195 Merge branch 'ros2' of github.com:introlab/rtabmap_ros into lyrical-devel 2026-10-01 01:51:45 -07:00
matlabbe 5c82ffc2c9 bump version 0.23.13 2026-10-01 01:47:07 -07:00
matlabbe 5207dab7c2 rtabmap_slam tests and doc (#1460) 
* rtabmap_slam tests and doc

* another round of review of the doc

* Disable by default use_intra_process_comms on latched/transient publishers

* Added test to catch not unlocked mutex from early error exit

* updated coverage settings

* Using UScopeMutex on all tryLock()
 2026-09-28 13:09:51 -07:00
matlabbe 335d155768 CI: removed QEMU, use ubuntu arm runners (#1458) 
* CI: removed QEMU, use ubuntu arm runners

* set back -j2

* executor sequential
 2026-09-22 17:04:35 -07:00
matlabbeandmathieu86 11edc01d6a rtabmap_odom tests and doc (#1456) 
* 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

---------

Co-authored-by: mathieu86 <[email protected]>
 2026-09-21 17:02:45 -07:00
matlabbe 73c98f87a8 rtabmap_python tests and doc (#1455) 2026-09-13 12:20:17 -07:00
matlabbe 5062bf0614 rtabmap_sync tests and doc (#1454) 
* rtabmap_sync tests and doc

* Added some diagrams

* cleanup some diagrams

* fixing running tests in parallels
 2026-09-13 11:25:32 -07:00
matlabbe 61edb4ee85 rtabmap_util tests and doc (#1450) 
* Initial tests

* more tests

* More in-depth deskew() testing

* slightly less verbose clamping corruption warning

* added tf buffer related tests

* added remaining tests

* Added rosdoc2, improve tests when we require sync of odom stamp and sensor stamp

* cleanup doc

* fixing ci

* rtabmap_util tests and doc

* Added db_player tests

* Added MapsManager tests

* Added map_assembler tests

* Documenting node first draft

* relative links

* Fixed british->usa english style. Reviewed all md files.

* added link to install ros1

* updated badges

* added Iron

* added ubuntu

* added codecov

* updated coverage ci

* fixing rosdep

* updated ci cov job

* ci bump

* fixing cov ci

* small doc cleanup
 2026-09-07 21:23:22 -07:00
matlabbe f77dda2b58 rtabmap_conversions tests and doc (#1449) 
* Initial tests

* more tests

* More in-depth deskew() testing

* slightly less verbose clamping corruption warning

* added tf buffer related tests

* added remaining tests

* Added rosdoc2, improve tests when we require sync of odom stamp and sensor stamp

* cleanup doc

* fixing ci
 2026-09-06 17:23:42 -07:00
matlabbe 1e6edb4579 Updated 2d scan turtlebot3 demo with deskewing option 2026-08-26 20:26:20 -07:00
matlabbe 16f6f05d70 map_assembler : cleanup nodes_ from latest node if it has been removed 2026-08-09 17:06:23 -07:00
matlabbe 0b60e52914 Fixing TransformBroadcaster *this on rolling (#1443) 2026-08-07 14:03:56 -07:00
matlabbe 99436c6e87 CI not required probes for flaky builds (docker humble-latest) 2026-08-07 11:34:47 -07:00
matlabbe 8f35accc41 rolling ci: skip not available dep packages 2026-08-07 11:21:02 -07:00
matlabbe 65de131a81 fixing rolling ci apt source, changed name of docker workflow on ros2 to docker-ros2 2026-08-07 11:11:30 -07:00
matlabbe accefde0fb CI: added dispatch_workflow for ros2 jobs 2026-08-06 15:02:30 -07:00
matlabbe 48d1ed1204 Merge branch 'master' of github.com:introlab/rtabmap_ros into ros2 2026-08-06 14:59:13 -07:00
matlabbe 38b45dca16 Update for rtabmap 0.23.10 (#1442) 
* Update for rtabmap 0.23.10

* fixing min version

* Fixed PythonInterface compilation error

* CI Added workflow_dispatch
 2026-08-06 14:50:22 -07:00
matlabbe 48bbf88d56 ignoring rtabmap_costmap_plugins 2026-06-21 16:05:40 -07:00
matlabbe f40e23ff01 nav2_msgs missing 2026-06-21 15:17:58 -07:00
matlabbe d5debe51fc lyrical-devel branch 2026-06-21 14:44:44 -07:00
matlabbe 1551aad602 hard-coding missing deps 2026-06-21 13:16:41 -07:00
matlabbe 380c67a77e Added lyrical_devl branch 2026-06-21 13:05:56 -07:00
matlabbe 2eef2b3231 Lyrical support (#1433) 
* 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
 2026-06-21 12:55:28 -07:00
matlabbe 01711324b7 Disabling lyrical from ros2, wil lbe re-added by lyrical_support branch 2026-06-14 19:16:12 -07:00
matlabbe 6379a9c439 Added lyrical ci 2026-06-14 18:55:07 -07:00
matlabbe f74f5dec9f Merge branch 'master' of github.com:introlab/rtabmap_ros into ros2 2026-06-14 16:50:27 -07:00
matlabbe a2b3747120 Added some composition examples 2026-06-13 21:44:39 -07:00
matlabbe b51ba8798b Fixed output rwo_step when inputs are organized 2026-05-26 01:09:34 +00:00
matlabbe a6921845b6 ros1: Migrating tf to tf2 (#1425) 
* 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
 2026-05-23 15:08:21 -07:00
matlabbe d9cd332c53 Removing ament_target_dependencies (#1424) 
* Removing ament_target_dependencies

* always update ros

* fixing rtabmap_costmap_plugins

* rtabmap rviz plugins Qt5

* fixing qt5 private, nav2 costmap 2d layers

* backward compatibility humble

* backward comaptibility pre lyrical

* fixing rolling build

* should work on rolling now

* fixed odom

* auto cancel previous jobs
 2026-05-06 22:56:41 -07:00
matlabbe 8871f934b5 Fixing turtlebot3 demos on Jazzy (#1422) 
* Fixing turtlebot3 demos on Jazzy

* Updated humble

* Working turtlebot3 demos on humble and jazzy
 2026-05-05 22:23:02 -07:00
matlabbe 45375bb3c0 Demo multi-session: updated Kp/BadSignRatio 2026-04-19 18:23:34 -07:00
matlabbe 7c474d8522 Merge branch 'master' of github.com:introlab/rtabmap_ros into ros2 2026-04-19 18:22:53 -07:00
matlabbe f81536f508 typo 2026-04-20 01:22:12 +00:00
matlabbe c590afe069 Merge branch 'master' of github.com:introlab/rtabmap_ros into ros2 2026-04-19 16:11:54 -07:00
matlabbe 08e7d63678 Support upstream 0.23.5 2026-04-19 23:07:07 +00:00
matlabbe fb27ac0eda Fixed not all CoreWrapper's parameters updated when parameters callback is called 2026-04-18 16:22:50 -07:00
matlabbe 45c586c379 Added fatal errors on cv exceptions caused by possible multiple installed opencv versions 2026-04-18 14:45:56 -07:00
matlabbe 3bc26e1a41 Updated euroc example to use rectify_node instead of image_proc (#1404) 2026-03-21 14:06:02 -07:00
matlabbe 2fb3923212 merged master->ros2 (new multi_rgbd_inertial_dataset.launch.py example), fixed rtabmap_viz error on exit, fixed default name of rgbdx_sync node, fixed yaml_to_camera_info.py exit exception 2026-02-21 18:06:19 -08:00
matlabbe 95004363b4 multi_rgbd_inertial_dataset.launch: record intermediate poses 2026-02-19 19:51:33 -08:00
matlabbe 9d7fb44723 Added multi_rgbd_inertial_dataset.launch example (https://github.com/introlab/rtabmap/issues/1654). Also fixed dev container not showing GUI apps. 2026-02-19 19:18:11 -08:00
matlabbe 6ed02b65e4 Added new depthai examples (color and stereo) 2026-02-08 14:54:33 -08:00
matlabbe 3283309e76 Added realsense D435i combined IR stereo VO and RGB-D SLAM example 2026-02-08 12:10:47 -08:00
matlabbe 9d41d998fd Merge branch 'master' of github.com:introlab/rtabmap_ros into ros2 2026-01-31 12:14:05 -08:00
matlabbe 9c003ccae5 Fixed loadDatabase and backup services fatal error when database is read-only 2026-01-30 22:03:31 +00:00
matlabbe 8fbf9f7385 Merge branch 'master' of github.com:introlab/rtabmap_ros into ros2 2026-01-22 16:04:02 -08:00
matlabbe 758b7fa4cd read-only support (#1397) 2026-01-22 16:00:40 -08:00
matlabbe d63accf181 removed --udebug arg in a turtlebot3 demo launch 2025-12-20 13:06:23 -08:00
matlabbe 64fa848dba dbplayer: fixed camera index suffix added when there is only a single stereo camera 2025-12-03 21:43:29 -08:00
matlabbe 001ed0d512 Fixing duplicated code added from that merge commit https://github.com/introlab/rtabmap_ros/commit/c204ed61427475f028fe2cd435b31cd2cbcfc1fd 2025-12-02 21:11:25 -08:00
matlabbe 4b970c2ca0 Merge branch 'master' of github.com:introlab/rtabmap_ros into ros2 2025-11-11 18:32:18 -08:00
matlabbe 2f258bdae0 Plumbing env_sensor topic to rtabmap 2025-11-11 23:56:08 +00:00
matlabbe 515eb50d83 cherry picked https://github.com/introlab/rtabmap_ros/commit/e245b7751edf3f1c3b74578527c707b5aa3e630c for ros1 port 2025-11-10 04:48:44 +00:00
matlabbe e245b7751e Fixed first imu of a batch used 2x internally 2025-11-09 20:44:28 -08:00
matlabbe f3cf0d20d0 Try fixing qt6-qt5 rtabmap-rviz-plugins build issue. (#1376) 
* 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
 2025-11-02 15:27:53 -08:00
matlabbe 9963bc06af Added VINS-Fusion example. 2025-11-01 13:09:39 -07:00
matlabbe 1ba62c224e Porting rtabmap_costmap_plugins (Voxel Layer) to ROS2 (#1373) 
* Porting rtabmap_costmap_plugins (Voxel Layer) to ROS2

* fixed voxel grid

* Ported voxel_marker

* ported patrol.py
 2025-10-26 18:37:22 -07:00
matlabbe dc7c03e2fc ROS2 SuperPoint/SuperGlue example 2025-10-19 17:51:56 -07:00
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 <[email protected]>
 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