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1171 Commits (7b8b29d6d50d4562df1f970fa3125a443d6201dd)

Author SHA1 Message Date
Susanne Pielawa 91034eaf58 Making pose in FixedFramePoseData optional. (#792) 
This is for the case that the GPS signal is not available.
 2018-01-08 11:37:07 +01:00
Christoph Schütte 196b4b891c Add PoseGraphInterface::GetTrajectoryNodePoses() (#795) 2018-01-08 09:13:51 +01:00
Christoph Schütte 1a837ef3ab Introduce PoseGraphInterface::GetAllSubmapPoses() (#790) 2018-01-05 14:19:08 +01:00
Susanne Pielawa 63a80c9340 Adding a minimal implementation of std::optional. (#783) 
We're using C++11, which doesn't have std::optional. We need a few
features of std::optional for improved GPS support. These are
implemented here.
 2018-01-05 11:27:21 +01:00
Juraj Oršulić 58d94aaa68 Refactor calling optimization into DispatchOptimization. (#729) 
I noticed that @jihoonl opened the PR #726 which performs a similar thing. As discussed in googlecartographer/cartographer_ros#613 (@cschuet  has already taken a look), I pulled this out of #481 (a really old PR whose merging has been postponed), which is an example where re-running optimization is triggered from elsewhere as well (besides from `ComputeConstraintsForNode`). This refactoring makes libcartographer friendlier for use cases such as that one.

An important detail is that I have changed the condition in `WaitForAllComputations` to also check if the work queue is empty. If there are other things on the worker queue besides `ComputeConstraintsForNode`, currently we will wrongfully conclude that all computations are done. (This detail was merged in #754, so it's no longer in the diff of this PR).

Also missing is the same thing for 3D. I can add that when we settle on this.

Also, I suggest that `run_loop_closure` gets renamed to `run_optimization`.
 2018-01-05 10:43:56 +01:00
gaschler 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
gaschler 6125766c81 Define default num_event_threads config. (#785) 
(This was not covered by tests because they manually set it to 1.)
 2018-01-04 13:51:30 +01:00
Jihoon Lee 2ad83662f2 Migrate SubmapTexture and SubmapSlice logics from cartographer_ros (#782) 
Towards [RFC06](https://github.com/googlecartographer/rfcs/blob/master/text/0006-serve-ros-map-from-pbstream.md).

Migrates
* `FillSubmapSlice` from `pbstream_to_rosmap_main.cc` 
* `SubmapTexture` logics from cartographer_ros
 2018-01-04 10:52:05 +01:00
Juraj Oršulić 9ee65293d2 Pose graph: do not mark all submaps finished when finalizing a trajectory. (#784) 
I think this was a mistake in #563 (@jihoonl). Not all submaps should be marked as finished, only those pertaining to the trajectory being finalized.
 2018-01-04 10:11:28 +01:00
gaschler dbb3f7cde4 Test TrajectoryBuilderStub (#780) 2018-01-03 14:56:56 +01:00
gaschler 269bf5b05a Log output for failed tests (#781) 2017-12-20 16:08:27 +01:00
Christoph Schütte 18cb9c324f Make CMakeLists.txt install gRPC service headers. (#779) 2017-12-20 14:40:33 +01:00
gaschler 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
gaschler 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
Christoph Schütte 5b5b290e9f Implement BlockingQueue::WaitUntilEmpty(). (#775) 
PAIR=gaschler
 2017-12-20 10:22:53 +01:00
Christoph Schütte e0faf7094e Change MapBuilderServer::LocalSlamSubscriptionCallback (#776) 
PAIR=gaschler
 2017-12-20 09:46:54 +01:00
gaschler 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
Christoph Schütte 02734c296d Implement ReceiveLocalSlamResultsHandler. (#772) 2017-12-19 15:11:29 +01:00
gaschler 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
Christoph Schütte 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
Christoph Schütte c79425cbb0 Implement RpcHandler::GetWriter and add unittest (#767) 2017-12-18 21:27:03 +01:00
gaschler def442b9db Make MapBuilderServer testable (#771) 
Pass MapBuilder to the constructor so the MapBuilder can be mocked.
 2017-12-18 20:47:00 +01:00
gaschler 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
Christoph Schütte 03751b3c9f Implement local SLAM subscriptions in MapBuilderServer (#766) 2017-12-18 16:32:34 +01:00
gaschler db0d5bc746 correct PoseGraphStub (#769) 2017-12-18 15:57:49 +01:00
Christoph Schütte 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
gaschler 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
gaschler 89b49dfefb TrajectoryBuilderStub implementation (#764) 2017-12-18 11:24:16 +01:00
gaschler 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
gaschler 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
gaschler 6817d22788 Test global 2D SLAM. (#751) 2017-12-15 14:45:56 +01:00
Christoph Schütte 69f74a11ba Implement EventQueues. (#759) 2017-12-15 12:21:44 +01:00
Christoph Schütte 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
Juraj Oršulić 29e4395a5a Make WaitForAllComputation wait for work queue in 3D as well (#758) 
Repeat the change in #754 by @gaschler for 3D as well.
 2017-12-14 10:02:54 +01:00
gaschler f8452821d7 WaitForAllComputation waits for work queue (#754) 2017-12-13 18:49:22 +01:00
gaschler 59d1b968bc Unwarp by point in LocalTrajectoryBuilder. (#636) 2017-12-13 18:29:42 +01:00
Christoph Schütte 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
Christoph Schütte 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
Christoph Schütte 636f3bbc2f Add slides from 171207. (#753) 2017-12-13 14:51:50 +01:00
Christoph Schütte bf77b11645 Implement gRPC data handlers and SLAM thread. (#749) 2017-12-12 22:36:44 +01:00
Christoph Schütte 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
Christoph Schütte 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
Christoph Schütte 3ae78563c6 Introduce TrajectoryBuilderInterface. (#736) 
[RFC=0004](https://github.com/googlecartographer/rfcs/blob/master/text/0004-trajectory-builder-interface.md)
 2017-12-08 11:52:29 +01:00
Christoph Schütte 96cdbde5bf Introduce PoseGraphInterface. (#744) 
[RFC=0005](https://github.com/googlecartographer/rfcs/blob/master/text/0005-pose-graph-interface.md)
 2017-12-08 11:13:48 +01:00
gaschler 549eef0000 Correct namespace (#742) 2017-12-07 21:17:30 +01:00
gaschler 3b5a72eebc
Script for address sanitizer tests (#745) 2017-12-07 15:26:10 +01:00
Michael Grupp 176fc42c3f Remove empty leftover of pose_estimate.h (#740) 
Follow-up of #670.
 2017-12-07 08:53:04 +01:00
gaschler 5c694adf93 Correct cmake install (#739) 
Simplify how file lists are collected depending on options.
Omits gRPC headers if they were not built.
 2017-12-06 20:34:07 +01:00
Christoph Schütte 2a7a6ef934
Make sensor::Data dispatchable to TrajectoryBuilder. (#738) 
This change allows to dispatch sensor::Data to implementations of mapping::TrajectoryBuilder, i.e. CollatedTrajectoryBuilder. We need this for cartographer_grpc as the incoming sensor data is inserted into a queue by the gRPC threads and dequeued by a SLAM threads that inserts them into a CollatedTrajectoryBuilder.
 2017-12-06 16:36:36 +01:00
gaschler 4c999037b4 Integration tests for local slam. (#734) 2017-12-06 15:58:16 +01:00