ros2: make simulation runnable + add smoke test to CI#62
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- mins_data installs BSplineDataset/FloorPlans/GroundTruths to share for ament - sim resolves data from mins_data package share (was mins) on ros2 - declare config_path param so launch files can set it (argv still works) - reset publishers before rclcpp::shutdown to avoid teardown segfault - add simulation.launch.py - build_ros2.yml now runs the sim end to end as a smoke test
Simulation regression report - master vs PR8 seeds/config, sim full
stereo_gps
stereo_lidar
stereo_wheel
vio_stereo
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Builds on #61 (which fixed the ROS 2 colcon build). This makes the ROS 2 simulation actually run end to end, and upgrades the ROS 2 CI from compile-only to compile + smoke-run.
Changes
BSplineDataset/FloorPlans/GroundTruthsinto the ament share dir (previously the data was never installed for ROS 2).MINS_DATA_DIRfrom themins_datapackage share (was pointing atmins, where the data does not exist).declare_parameter("config_path")so launch files can set it (passing the path asargv[1]still works); reset the publishers beforerclcpp::shutdown()to avoid a teardown segfault.simulation.launch).Verified locally (Humble 22.04)
ros2 run mins simulation <config.yaml>-> exit 0, RMSE average 0.447 deg / 0.239 m.ros2 launch mins simulation.launch.py-> exit 0, produces RMSE.