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Use get_default_storage_id #120

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Use get_default_storage_id #120

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8ddff86
Run run_slam_offline in foreground
ymd-stella Jun 10, 2023
2b59959
Use get_default_storage_id
ymd-stella Jun 10, 2023
0c0db6b
Update images for ci
ymd-stella Jun 10, 2023
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6 changes: 3 additions & 3 deletions .github/workflows/main.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -28,7 +28,7 @@ jobs:
run:
shell: bash
container:
image: ghcr.io/ymd-stella/stella-cv/stella_vslam-ros2:humble
image: ghcr.io/ymd-stella/stella-cv/stella_vslam-ros2:iron
env:
ROS_LOG_DIR: ${GITHUB_WORKSPACE}/.ros
steps:
Expand Down Expand Up @@ -84,15 +84,15 @@ jobs:
pkill -SIGINT -f static_transform_publisher
- name: run slam offline (stereo)
run: |
(source /opt/ros/${ROS_DISTRO}/setup.bash && source /ros_ws/install/setup.bash && ros2 run stella_vslam_ros run_slam_offline -b MH_04_difficult -r -v /datasets/orb_vocab/orb_vocab.fbow -c /ros_ws/src/stella_vslam/example/euroc/EuRoC_stereo.yaml --map-db-out map_stereo.msg --left=/cam0/image_raw --right=/cam1/image_raw --ros-args -p publish_tf:=false)&
(source /opt/ros/${ROS_DISTRO}/setup.bash && source /ros_ws/install/setup.bash && ros2 run stella_vslam_ros run_slam_offline -b MH_04_difficult -r -v /datasets/orb_vocab/orb_vocab.fbow -c /ros_ws/src/stella_vslam/example/euroc/EuRoC_stereo.yaml --map-db-out map_stereo.msg --left=/cam0/image_raw --right=/cam1/image_raw --ros-args -p publish_tf:=false)

rosdep:
runs-on: ubuntu-latest
defaults:
run:
shell: bash
container:
image: ghcr.io/ymd-stella/stella-cv/ros:humble-ros-base
image: ghcr.io/ymd-stella/stella-cv/ros:iron-ros-base
env:
ROS_LOG_DIR: ${GITHUB_WORKSPACE}/.ros
steps:
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1 change: 1 addition & 0 deletions CMakeLists.txt
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Expand Up @@ -130,6 +130,7 @@ find_package(tf2_geometry_msgs REQUIRED)
find_package(tf2_msgs REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(rosbag2_cpp REQUIRED)
find_package(rosbag2_storage REQUIRED)

# thread library
find_package(Threads REQUIRED)
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1 change: 1 addition & 0 deletions package.xml
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Expand Up @@ -33,6 +33,7 @@
<depend>tf2_msgs</depend>
<depend>tf2_ros</depend>
<depend>rosbag2_cpp</depend>
<depend>rosbag2_storage</depend>

<export>
<build_type>ament_cmake</build_type>
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3 changes: 2 additions & 1 deletion src/CMakeLists.txt
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Expand Up @@ -71,7 +71,8 @@ foreach(EXECUTABLE_TARGET IN LISTS EXECUTABLE_TARGETS)
tf2_geometry_msgs
tf2_msgs
tf2_ros
rosbag2_cpp)
rosbag2_cpp
rosbag2_storage)
install(TARGETS ${EXECUTABLE_TARGET}
DESTINATION lib/${PROJECT_NAME})

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3 changes: 2 additions & 1 deletion src/run_slam_offline.cc
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Expand Up @@ -36,6 +36,7 @@ namespace fs = ghc::filesystem;
#include <rclcpp/serialized_message.hpp>
#include <rosbag2_cpp/reader.hpp>
#include <rosbag2_cpp/readers/sequential_reader.hpp>
#include <rosbag2_storage/default_storage_id.hpp>

void tracking(const std::shared_ptr<stella_vslam_ros::system>& slam_ros,
const std::shared_ptr<stella_vslam::config>& cfg,
Expand Down Expand Up @@ -267,7 +268,7 @@ int main(int argc, char* argv[]) {
auto right_topic = op.add<popl::Value<std::string>>("", "right", "right image topic name for stereo", "camera/right/image_raw");
auto color_topic = op.add<popl::Value<std::string>>("", "color", "color image topic name for RGBD", "camera/color/image_raw");
auto depth_topic = op.add<popl::Value<std::string>>("", "depth", "depth image topic name for RGBD", "camera/depth/image_raw");
auto bag_storage_id = op.add<popl::Value<std::string>>("", "storage-id", "rosbag2 storage id (default: sqlite3)", "sqlite3");
auto bag_storage_id = op.add<popl::Value<std::string>>("", "storage-id", "rosbag2 storage id (default: " + rosbag2_storage::get_default_storage_id() + ")", rosbag2_storage::get_default_storage_id());
auto vocab_file_path = op.add<popl::Value<std::string>>("v", "vocab", "vocabulary file path");
auto setting_file_path = op.add<popl::Value<std::string>>("c", "config", "setting file path");
auto mask_img_path = op.add<popl::Value<std::string>>("", "mask", "mask image path", "");
Expand Down