mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 00:37:46 +08:00
matlabbeandmathieu86
11edc01d6a
* 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]>
Docker
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Available images on introlab3it/rtabmap_ros:
humble, humble-latest jazzy, jazzy-latest- The
-latestimages are automatically built from latest version ofrtabmapandrtabmap_rosfrom source (including dependencies that are not available with ROS binaries). The other images have the same version than the binaries released on ROS.
- The
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Launch
rtabmapfrom inside the container (no gui), saving the database on host~/.ros/rtabmap.db:docker run -it --rm \ --user $UID \ -e ROS_HOME=/tmp/.ros \ -e OMP_WAIT_POLICY=passive \ --network=host \ --ipc=host \ -v ~/.ros:/tmp/.ros \ introlab3it/rtabmap_ros:humble-latest \ ros2 launch rtabmap_launch rtabmap.launch.py rtabmap_viz:=false database_path:=/tmp/.ros/rtabmap.db rtabmap_args:="--delete_db_on_start" -
Launch
rtabmap_vizfrom inside the container, using nvidia-docker2 approach:# those following 3 lines would need to be done only one time XAUTH=/tmp/.docker.xauth touch $XAUTH xauth nlist $DISPLAY | sed -e 's/^..../ffff/' | xauth -f $XAUTH nmerge - docker run -it --rm \ --privileged \ -e DISPLAY=$DISPLAY \ -e QT_X11_NO_MITSHM=1 \ -e NVIDIA_VISIBLE_DEVICES=all \ -e NVIDIA_DRIVER_CAPABILITIES=all \ -e XAUTHORITY=$XAUTH \ -e OMP_WAIT_POLICY=passive \ --user $UID \ -e ROS_HOME=/tmp/.ros \ -v ~/.ros:/tmp/.ros \ --runtime=nvidia \ --network=host \ --ipc=host \ -v $XAUTH:$XAUTH \ -v /tmp/.X11-unix:/tmp/.X11-unix \ introlab3it/rtabmap_ros:humble-latest \ /bin/bash -c "ros2 run rtabmap_viz rtabmap_viz --ros-args -r __ns:=/rtabmap"