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