35a9c3d63b
Implement sensor data uploading in LocalTrajectoryUploader. ( #822 )
2018-01-17 12:01:29 +01:00
712c7e3e39
Fix namespace of serialization functions. ( #825 )
2018-01-16 12:20:15 +01:00
c053fc7a2f
Implement sensor data forwarding. ( #818 )
2018-01-15 15:31:33 +01:00
f49e798ef9
Start DataUploader implementation, implement Add/FinishTrajectory ( #811 )
...
[RFC=0002](https://github.com/googlecartographer/rfcs/blob/master/text/0002-cloud-based-mapping-1.md )
2018-01-12 23:16:29 +01:00
1de696d45f
Introduce PoseGraphInterface::ToProto() ( #813 )
2018-01-12 13:55:14 +01:00
fee77c8a99
Add LocalSlamResultData retrieval and submap management ( #810 )
...
[RFC=0002](https://github.com/googlecartographer/rfcs/blob/master/text/0002-cloud-based-mapping-1.md )
2018-01-12 13:00:25 +01:00
e1a182d1fa
Implement LocalSlamResult data adding to PoseGraph. ( #804 )
2018-01-11 10:19:37 +01:00
d313af8674
Add InsertionResult to LocalSlamResult. ( #801 )
2018-01-10 17:26:04 +01:00
8165da873f
Add GetConstraints() to gRPC service. ( #798 )
2018-01-09 14:25:28 +01:00
bd2fbbf1a1
Implement GetLocalToGlobalTransform() in gRPC service ( #797 )
2018-01-08 16:28:41 +01:00
d240261701
Add GetAllSubmapPoses to gRPC interface. ( #791 )
2018-01-08 15:34:00 +01:00
78d05bf745
Add GetTrajectoryNodePoses() to gRPC service ( #796 )
2018-01-08 14:19:39 +01:00
d57c2441b8
Implement gRPC submap query. ( #794 )
2018-01-08 13:52:14 +01:00
920a34a938
Fix RpcEvent lifetime ( #793 )
...
Fixes #788 .
Uses two different types of events whether the event goes through the CompletionQueue or not.
CompletionQueueRpcEvent is again a member of Rpc.
2018-01-08 12:42:19 +01:00
196b4b891c
Add PoseGraphInterface::GetTrajectoryNodePoses() ( #795 )
2018-01-08 09:13:51 +01:00
1a837ef3ab
Introduce PoseGraphInterface::GetAllSubmapPoses() ( #790 )
2018-01-05 14:19:08 +01:00
923d643b86
Fix obvious asan warnings. ( #787 )
...
Adds a few missing overrides and removes a std::move that
prevented copy elision.
2018-01-05 10:18:08 +01:00
dbb3f7cde4
Test TrajectoryBuilderStub ( #780 )
2018-01-03 14:56:56 +01:00
c881fe90cf
Stub receives LocalSlamResults. ( #778 )
...
[RFC=0002](https://github.com/googlecartographer/rfcs/blob/master/text/0002-cloud-based-mapping-1.md )
PAIR=cschuet
2017-12-20 12:42:27 +01:00
f5e99089a9
Notify LocalSlamResults subscription ends. ( #777 )
...
[RFC=0002](https://github.com/googlecartographer/rfcs/blob/master/text/0002-cloud-based-mapping-1.md )
PAIR=cschuet
2017-12-20 11:42:01 +01:00
e0faf7094e
Change MapBuilderServer::LocalSlamSubscriptionCallback ( #776 )
...
PAIR=gaschler
2017-12-20 09:46:54 +01:00
383b988548
TrajectoryBuilderStub sends WritesDone ( #774 )
...
This is required to close the connection, otherwise the server
cannot shutdown.
2017-12-19 15:49:56 +01:00
02734c296d
Implement ReceiveLocalSlamResultsHandler. ( #772 )
2017-12-19 15:11:29 +01:00
5fbc4ca568
Test gRPC client/server ( #773 )
...
Adds an integration test and a test with a mock MapBuilderInterface to cover client/server communication.
2017-12-19 14:36:25 +01:00
dea6c3d7ce
Implement server-streaming RPCs and add unittest ( #768 )
...
[RFC=0002](https://github.com/googlecartographer/rfcs/blob/master/text/0002-cloud-based-mapping-1.md )
2017-12-19 10:27:30 +01:00
c79425cbb0
Implement RpcHandler::GetWriter and add unittest ( #767 )
2017-12-18 21:27:03 +01:00
def442b9db
Make MapBuilderServer testable ( #771 )
...
Pass MapBuilder to the constructor so the MapBuilder can be mocked.
2017-12-18 20:47:00 +01:00
5bb81a9b4a
correct MapBuilderStub ( #770 )
...
Context: The `::grpc::ClientContext` represents a single RPC on the client side. Therefore it is illegal to share the same context between two different RPC invocations.
2017-12-18 17:12:29 +01:00
03751b3c9f
Implement local SLAM subscriptions in MapBuilderServer ( #766 )
2017-12-18 16:32:34 +01:00
db0d5bc746
correct PoseGraphStub ( #769 )
2017-12-18 15:57:49 +01:00
ba7d375a25
Refactor Write()/Finish() and make thread-safe. ( #760 )
...
[RFC=0002](https://github.com/googlecartographer/rfcs/blob/master/text/0002-cloud-based-mapping-1.md )
2017-12-18 13:36:44 +01:00
c6decd5b7b
Test MapBuilderServer ( #762 )
...
Test to start and stop the MapBuilderServer.
Moves test helper functions in common with MapBuilderTest
to internal/mapping.
2017-12-18 11:52:17 +01:00
89b49dfefb
TrajectoryBuilderStub implementation ( #764 )
2017-12-18 11:24:16 +01:00
3fbc642a89
PopWithTimeout for sensor data queue ( #763 )
...
PopWithTimeout is necessary to ensure the SLAM thread
in the MapBuilderServer finishes when the server is
shut down.
2017-12-18 10:02:57 +01:00
d49706944f
FixedFramePoseData in gRPC server ( #761 )
...
Defines the FixedFramePoseData RPC and implements
the handler for the gRPC server.
2017-12-15 15:26:58 +01:00
69f74a11ba
Implement EventQueues. ( #759 )
2017-12-15 12:21:44 +01:00
e023ec5ecc
In RpcEvent use std::weak_ptr<Rpc> rather than Rpc* ( #757 )
...
[RFC=0002](https://github.com/googlecartographer/rfcs/blob/master/text/0002-cloud-based-mapping-1.md )
2017-12-14 16:30:01 +01:00
e16d1b1207
Heap-allocate RpcEvents. ( #756 )
...
Replace Rpc's RpcEvent members with heap-allocated RpcEvents.
[RFC=0002](https://github.com/googlecartographer/rfcs/blob/master/text/0002-cloud-based-mapping-1.md )
2017-12-13 18:01:01 +01:00
69787f288f
Introduce skeletons for various stubs. ( #752 )
...
Adds skeletons for
* MapBuilderStub
* PoseGraphStub
* TrajectoryBuilderStub
[RFC=0002](https://github.com/googlecartographer/rfcs/blob/master/text/0002-cloud-based-mapping-1.md )
2017-12-13 15:53:47 +01:00
bf77b11645
Implement gRPC data handlers and SLAM thread. ( #749 )
2017-12-12 22:36:44 +01:00
e596b75113
Add binary for cartographer_grpc_server. ( #747 )
...
[RFC=0002](https://github.com/googlecartographer/rfcs/blob/master/text/0002-cloud-based-mapping-1.md )
2017-12-11 19:09:52 +01:00
c5ec086968
Introduce TimedPointCloudData. ( #748 )
...
This data structure is needed to forward RangeFinderData over gRPC.
[RFC=0002](https://github.com/googlecartographer/rfcs/blob/master/text/0002-cloud-based-mapping-1.md )
2017-12-08 19:28:47 +01:00
176fc42c3f
Remove empty leftover of pose_estimate.h ( #740 )
...
Follow-up of #670 .
2017-12-07 08:53:04 +01:00
ded778cd34
Implementation of Add/FinishTrajectoryHandler. ( #732 )
2017-12-05 16:36:54 +01:00
697be9a77b
Add MappingServer skeleton. ( #730 )
2017-12-05 14:46:25 +01:00
e950062367
Add Cartographer service proto. ( #723 )
2017-12-04 17:30:42 +01:00
32a8364b98
Implement bi-directional streaming RPCs. ( #720 )
...
[RFC=0002](https://github.com/googlecartographer/rfcs/blob/master/text/0002-cloud-based-mapping-1.md )
2017-12-04 15:28:19 +01:00
5147af9763
Implement unary gRPC calls. ( #719 )
...
[RFC=0002](https://github.com/googlecartographer/rfcs/blob/master/text/0002-cloud-based-mapping-1.md )
2017-11-30 13:18:16 +01:00
999820d845
Implement shared ExecutionContext for handlers. ( #716 )
...
[RFC=0002](https://github.com/googlecartographer/rfcs/blob/master/text/0002-cloud-based-mapping-1.md )
2017-11-29 14:05:31 +01:00
3a46804393
Implement end-to-end client streaming RPC. ( #713 )
...
[RFC=0002](https://github.com/googlecartographer/rfcs/blob/master/text/0002-cloud-based-mapping-1.md )
2017-11-29 10:40:26 +01:00
02359a98ae
Implement connection establishment and server startup and shutdown. ( #712 )
...
[RFC=0002](https://github.com/googlecartographer/rfcs/blob/master/text/0002-cloud-based-mapping-1.md )
2017-11-28 10:50:30 +01:00
cd289bbcee
Introduce RPC class and start wiring up in Service ( #701 )
...
[RFC=0002](https://github.com/googlecartographer/rfcs/blob/master/text/0002-cloud-based-mapping-1.md )
2017-11-24 23:41:58 +01:00
38eeb17164
Introduce gRPC server, service and rpc handlers ( #692 )
2017-11-23 15:37:30 +01:00
Christoph Schütte
gaschler
Michael Grupp