We were passing the gravity estimate of the current tracking frame
to intialize the local submap pose. Fixing this improves the alignment
of submaps in the global (and approx. gravity-aligned) frame.
- `--force_pic` speeds up the build ~1.5x on my machine.
- Marking internal_client_server_test as flaky avoids misleading
failures in some environments.
- Updating rules_boost avoids spamming stdout with configure script
messages.
* Move tools/bazel.rc to prepare for bazel 0.17
Bazel 0.17 will no longer import the legacy "tools/bazel.rc" config
file. This change ensures compatibility with the new versions.
For users on bazel 0.16 and earlier who have a ~/.bazelrc, this change
will cause bazel to ignore their ~/.bazelrc and load this one instead.
Hopefully this won't break anyone. (famous last words)
The uplink server only receives the grid content of a submap after
that submap is finished for efficiency. Therefore, constraint
searches against that submap need to be skipped.
Also add checks to avoid this in the future.
FIXES=#1360
Makes `common::Mutex` an alias for `absl::Mutex` and replaces the logic inside `common::MutexLocker` with `absl::MutexLock`.
A future PR can then remove these classes entirely and replace references to it across the Cartographer code base with the Abseil classes directly.
This implements a frequently used function (two times in cartographer_ros).
Also, it corrects a wrong repeated proto field access,
so we can fix cartographer_ros/issues/944.
Adds a boolean argument to MapBuilderInterface::SerializeState() to indicate whether the caller wants to include unfinished submaps in the serialized state.
For cartographer_grpc this argument will be set to false since unfinished submaps do not have a Grid which would lead to a crash in the Submap::ToProto() function.
@pifon2a I've noticed the `BUILD_COMMAND` is broken. You're setting `ABSL_BUILD_COMMAND`, but using `ABSEIL_BUILD_COMMAND` (effectively empty). Somehow this doesn't confuse newer CMakes, but the one you install on Trusty gets confused and interprets this as a no-op build step. This causes the indigo pipeline in cartographer_ros to fail.
Use the cross-platform build command instead:
https://cmake.org/cmake/help/latest/module/ExternalProject.html#obtaining-project-properties (just above the linked paragraph)
PR #1224 introduced checks for `collate_landmarks` and `collate_fixed_frame` in the `CollatedTrajectoryBuilder`. However, it falsely checks for `collate_landmarks` in the `AddSensorData(FixedFramePoseData)` function. This PR fixes that.
Consolidating pbstream tools into a single tool
* adds two subcommands for now (info and migrate)
* removes commandline flags for filenames in favor of commandline args
* updates documentation for migration tool
* [GenericPoseGraph] Add rotation 3d constraint.
* [GenericPoseGraph] Add serialization tests for constraints.
* Remove files from other branch
* Updated include paths.
danielsievers
Kevin Daun
Alexander Belyaev
Rodrigo Queiro
gaschler
Juraj Oršulić
Michael Grupp
Christoph Schütte
Arno Fleck
Julius Kammerl
Martin Schwörer
Wolfgang Hess
Sebastian Klose
Martin Bokeloh