* Supporting ros depth compression formats passthrough
* Added image_compression_format (support jpg,png). Use Compression.h constants.
* Bridging gap with #1457
* CoreWrapper: decode_images_on_demand
* rgbd_sync->rgbd_split encoding/decoding test with image_transport validation. rgbd_split color passthrough
* more tests
* fixing ci on kilted+
* fixing test
* fixing lyrical tests
* fixing rolling ci
* Improved test coverage
* fixing some tf waitForTransform deadlocks when sim time is used in tests
* CI: build rtabmap_slam on rolling
rtabmap_slam builds without nav2_msgs, which is not on resolute yet: skip its
key instead of leaving the package out. Only rtabmap_costmap_plugins (and the
rtabmap_ros metapackage pulling it in) still need nav2.
* 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
* 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()
* fix(rtabmap_slam): release scan mutex on conversion failure
* test(rtabmap_slam): cover scan transform recovery in native tests
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.
* chore(rtabmap_slam): keep upstream submission focused on mutex fix
Remove the regression test and CI integration from the proposed diff. Retain the reproducer in commit 254ca3b so it can be offered separately with the validation evidence.
---------
Co-authored-by: Matthew Kotara <[email protected]>
Co-authored-by: matlabbe <[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
* 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
* 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]>
* 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
* Adding ROS2 Kilted to CI
* updated ros2 ci workflow
* updated version of action-ros-ci
* Updated dev containers, fixed kilted build
* Added git autocompletion
* 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
* Multi-threaded rtabmap node
* Moved data sync logic inside CoreWrapper to process odometry topics outside processing thread
* updated commend
* re-enabled jazzy
* disabled jazzy for this mr
* Added async callbackgroup for imu and landmark topics
* Making all shared variables thread-safe
* Fixed odometry latency
* Fixed node ID=0 issues as msgs may not have seq. (#1202)
(cherry picked from commit 097cab0667)
* Odom: removed long processing from ros callbacks (decreasing delay, also making delay independent of the message filters topic_queue_size and sync_queue_size parameters)
* Changed a log from info->debug
* Changed a log from info->debug
* Updated default topic and sync queue_size inside nodes. Exposing topic and sync queue size params in warning when cannot synchronize. Added zed and depthai examples. Odom: Fixed imu callback group, added multi-threaded executors for all odometry nodes.
* fixed merge
* Include everything needed in example launch files for simple launch. Small fixes.
---------
Co-authored-by: Borong Yuan <[email protected]>
matlabbe