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]>
rtabmap_conversions
Conversions between RTAB-Map library types and ROS 2 messages.
This package is a library only — it contains no nodes, no launch files and no parameters. Every other rtabmap_ros package that touches a message goes through it: rtabmap_slam, rtabmap_odom, rtabmap_sync, rtabmap_util, rtabmap_viz and rtabmap_rviz_plugins.
You only need it directly if you are writing your own node against RTAB-Map's C++ API and want to publish or subscribe to rtabmap_msgs.
Contents
Usage
Add the dependency to your package.xml and CMakeLists.txt:
<depend>rtabmap_conversions</depend>
find_package(rtabmap_conversions REQUIRED)
target_link_libraries(my_node rtabmap_conversions::rtabmap_conversions)
Everything lives in a single header and the rtabmap_conversions namespace:
#include <rtabmap_conversions/MsgConversion.h>
// A pose message to an rtabmap::Transform and back.
rtabmap::Transform pose = rtabmap_conversions::transformFromPoseMsg(msg.pose);
geometry_msgs::msg::Pose out;
rtabmap_conversions::transformToPoseMsg(pose, out);
The naming is uniform: xxxFromROS() converts a message into an RTAB-Map type, xxxToROS() goes the other way. ToROS() functions write through a reference parameter so the message can be reused; FromROS() functions return by value.
What it covers
| Group | Functions |
|---|---|
| Transforms | transformFromTF, transformToTF, transformFromGeometryMsg, transformToGeometryMsg, transformFromPoseMsg, transformToPoseMsg |
| TF lookups | getTransform, getMovingTransform |
| Camera models | cameraModelFromROS, cameraModelToROS, stereoCameraModelFromROS |
| Images | toCvCopy, toCvShare, rgbdImageFromROS, rgbdImageToROS, convertRGBDMsgs, convertStereoMsg |
| Laser scans | convertScanMsg, convertScan3dMsg, deskew, transformPointCloud, sizeOfPointField |
| Features | keypointFromROS, point2fFromROS, point3fFromROS, globalDescriptorFromROS (+ vector and ToROS variants) |
| Graph | mapDataFromROS, mapGraphFromROS, nodeFromROS, linkFromROS, sensorDataFromROS (+ ToROS variants) |
| Misc | infoFromROS, odomInfoFromROS, odomInfoToStatistics, imuFromROS, userDataFromROS, envSensorFromROS, landmarksFromROS, timestampFromROS, timestampToROS |
Full signatures and per-function notes are in the API documentation and in MsgConversion.h.
Conventions worth knowing
These cut across the whole API and are not obvious from the signatures. Per-function caveats — object lifetimes, which fields a given ToROS() fills — are documented on the functions themselves.
Null transforms. RTAB-Map distinguishes a null transform (unknown) from identity. Over the wire this is encoded as an all-zero quaternion, so transformFromGeometryMsg() and transformFromPoseMsg() return a null rtabmap::Transform for one. Always check isNull() before using a result. tf2::Transform cannot represent this — it stores rotation as a basis matrix — so transformToTF() returns a bool instead.
CameraInfo matrices are fixed-size arrays. k, r and p are std::array, so they are never "empty" — an unset matrix is all zeros. cameraModelFromROS() treats a zero k[0]/p[0] (the focal length) as absent.
License
BSD-3-Clause. See the repository root.