1.8 KiB
Scan transform recovery regression
scan_tf_recovery.py is a standalone ROS 2 integration reproducer for the
scan-conversion error paths in CoreWrapper::commonLaserScanCallback.
It is not registered with CTest yet.
Source your ROS installation and the workspace containing the RTAB-Map build under test. Use an unused ROS domain and run the two cases sequentially:
source /opt/ros/jazzy/setup.bash
source install/setup.bash
export ROS_DOMAIN_ID=171
python3 src/rtabmap_ros/rtabmap_slam/test/scan_tf_recovery.py
python3 src/rtabmap_ros/rtabmap_slam/test/scan_tf_recovery.py --late-tf
Adjust the script path for your checkout layout. Python dependencies are
rclpy, ament_index_python, geometry_msgs, nav_msgs, sensor_msgs,
sensor_msgs_py, std_msgs, tf2_ros and PyYAML.
The script starts the installed rtabmap_slam/rtabmap executable, publishes
odometry and odom -> base_link, and begins publishing PointCloud2 data after
four seconds. The control provides base_link -> lidar immediately; --late-tf
withholds it until eight seconds. No simulator, hardware or recorded data is
required. Parameters and captured logs are written under /tmp.
Both cases require a nonempty occupancy grid within 18 seconds and a clean process exit after SIGINT. The late-TF case also requires a scan-conversion error in the log, ensuring the failure path was exercised. A JSON summary reports the map dimensions, conversion failure and process exit code.
On stock Jazzy 0.23.7, the control passes but the late-TF case produces no map and requires forced shutdown. With the two missing unlocks added, both pass. The patched late-TF case passed five runs, including two using default FastDDS and two using UDP-only transport. This reproducer exercises the 3D scan path; the analogous 2D error path is fixed by inspection but is not independently tested.