mirror of
https://github.com/introlab/rtabmap_ros.git
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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]>
69 lines
4.1 KiB
Markdown
69 lines
4.1 KiB
Markdown
# rtabmap_conversions
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Conversions between [RTAB-Map](https://github.com/introlab/rtabmap) library types and ROS 2 messages.
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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`](https://github.com/introlab/rtabmap_ros/tree/ros2/rtabmap_slam), [`rtabmap_odom`](https://github.com/introlab/rtabmap_ros/tree/ros2/rtabmap_odom), [`rtabmap_sync`](https://github.com/introlab/rtabmap_ros/tree/ros2/rtabmap_sync), [`rtabmap_util`](https://github.com/introlab/rtabmap_ros/tree/ros2/rtabmap_util), [`rtabmap_viz`](https://github.com/introlab/rtabmap_ros/tree/ros2/rtabmap_viz) and [`rtabmap_rviz_plugins`](https://github.com/introlab/rtabmap_ros/tree/ros2/rtabmap_rviz_plugins).
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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`.
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## Contents
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- [Usage](#usage)
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- [What it covers](#what-it-covers)
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- [Conventions worth knowing](#conventions-worth-knowing)
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- [License](#license)
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## Usage
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Add the dependency to your `package.xml` and `CMakeLists.txt`:
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```xml
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<depend>rtabmap_conversions</depend>
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```
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```cmake
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find_package(rtabmap_conversions REQUIRED)
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target_link_libraries(my_node rtabmap_conversions::rtabmap_conversions)
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```
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Everything lives in a single header and the `rtabmap_conversions` namespace:
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```cpp
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#include <rtabmap_conversions/MsgConversion.h>
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// A pose message to an rtabmap::Transform and back.
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rtabmap::Transform pose = rtabmap_conversions::transformFromPoseMsg(msg.pose);
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geometry_msgs::msg::Pose out;
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rtabmap_conversions::transformToPoseMsg(pose, out);
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```
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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.
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## What it covers
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| Group | Functions |
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| Transforms | `transformFromTF`, `transformToTF`, `transformFromGeometryMsg`, `transformToGeometryMsg`, `transformFromPoseMsg`, `transformToPoseMsg` |
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| TF lookups | `getTransform`, `getMovingTransform` |
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| Camera models | `cameraModelFromROS`, `cameraModelToROS`, `stereoCameraModelFromROS` |
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| Images | `toCvCopy`, `toCvShare`, `rgbdImageFromROS`, `rgbdImageToROS`, `convertRGBDMsgs`, `convertStereoMsg` |
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| Laser scans | `convertScanMsg`, `convertScan3dMsg`, `deskew`, `transformPointCloud`, `sizeOfPointField` |
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| Features | `keypointFromROS`, `point2fFromROS`, `point3fFromROS`, `globalDescriptorFromROS` (+ vector and `ToROS` variants) |
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| Graph | `mapDataFromROS`, `mapGraphFromROS`, `nodeFromROS`, `linkFromROS`, `sensorDataFromROS` (+ `ToROS` variants) |
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| Misc | `infoFromROS`, `odomInfoFromROS`, `odomInfoToStatistics`, `imuFromROS`, `userDataFromROS`, `envSensorFromROS`, `landmarksFromROS`, `timestampFromROS`, `timestampToROS` |
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Full signatures and per-function notes are in the [API documentation](https://docs.ros.org/en/jazzy/p/rtabmap_conversions/) and in [`MsgConversion.h`](https://github.com/introlab/rtabmap_ros/blob/ros2/rtabmap_conversions/include/rtabmap_conversions/MsgConversion.h).
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## Conventions worth knowing
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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.
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**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.
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**`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.
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## License
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BSD-3-Clause. See the [repository root](https://github.com/introlab/rtabmap_ros#license).
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