mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-12 04:29:49 +08:00
matlabbe
82f0754bf7
* rtabmap_demos tests and docs * added bag testing * added rtabmap_examples launch tests * updating demo bag download paths * added netherdrone demo * Fixed rgb-only callback with lidar rejected. Updated lidar params * Added back OrbitOriented rviz view to ros2, with optional octomap wll clipping * fixing ci * lidar demo added intermediate_nodes option * added netherdrone as demo test * running rtabmap_demos tests on ci * added rtabmap_launch tests, fixed ground_truth_base_frame_id usage * ficing rolling * updating demo test harnest * densify golden trajectories to avoid tf missing * fixing tf steps * updated min icp ratio for netherdrone demo * fixing image_transport arg->params * export pose opt=0 * lets process all frames * updated netherdrone golden * fixing publishers queue size just for tests * added playdback demo doc * Adding more logs to debug ci * Fixing QOS for CI to reliable, added find-object demo test * name threads * fixing camera info expected transient on lyrical/rolling. Fixing find_object not appearing idle * 30 Hz polling backward comp * fixing test tf sim lock * fixing lyrical qos bag parsing * faster replay * lockstep * fixing clock deadlock * Added test on shutdown * updated netherdrone golden poses * Extended stereo outdoor test * updated shutdown test * updated test * multi-thread flaky test * adding backtrace when test fails * increased closure slack for netherdrone * g2o gauss newton on stereo * adjusted maximum optimizer iterations * updated default iterations * Added netherdrone in list of demos
33 lines
1.3 KiB
CMake
33 lines
1.3 KiB
CMake
cmake_minimum_required(VERSION 3.5)
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project(rtabmap_demos)
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find_package(ament_cmake REQUIRED)
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install(DIRECTORY launch config params data
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DESTINATION share/${PROJECT_NAME}
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)
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# find_object_2d's detections as landmarks, for find_object_demo.launch.py.
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install(PROGRAMS scripts/find_object_to_landmarks.py
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DESTINATION lib/${PROJECT_NAME}
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)
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if(BUILD_TESTING)
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find_package(ament_cmake_pytest REQUIRED)
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# rtabmap_launch's launch file test, on this package's installed launch files: each
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# dry-run with each of its switches; nothing is started, so it needs no DDS domain of its
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# own. Run from where rtabmap_launch installed it: no pytest cache written there.
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find_package(rtabmap_launch REQUIRED)
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ament_add_pytest_test(test_launch_files ${rtabmap_launch_DIR}/../test/test_launch_files.py
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ENV RTABMAP_LAUNCH_TEST_PACKAGE=${PROJECT_NAME} "PYTEST_ADDOPTS=-p no:cacheprovider"
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TIMEOUT 900)
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# Replays the demo bags through the demo launch files and compares the graphs with
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# test/golden. Skipped unless the bags were fetched (test/fetch_test_data.sh). The
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# demos' nodes talk over DDS, so it gets a domain of its own; see rtabmap_slam's for
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# the other packages' ranges.
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ament_add_pytest_test(test_demo_playback test/test_demo_playback.py
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ENV ROS_DOMAIN_ID=110
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TIMEOUT 7200)
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endif()
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ament_package()
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