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
c7a8c5fda9
Keep fixed frame across optimizations. ( #807 )
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PAIR=wohe
2018-01-10 16:01:27 +01:00
286d16238e
In optimization_problem, use a map instead of vector for trajectory data. ( #805 )
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PAIR=wohe
2018-01-10 14:30:51 +01:00
67d26747cc
Implement assignment operator for common::optional. ( #800 )
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Implement assignment operator for common::optional.
2018-01-09 17:54:53 +01:00
8c7c4e3d2a
Make LocalTrajectoryBuilder optional. ( #799 )
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This is to prepare for the cloud-based mapping case where the robot is running cartographer in pure-localization mode and the cloud instance only solves the global problem. In that case a `LocalTrajectoryBuilder` need to be instantiated in for the cloud instance.
2018-01-09 16:54:30 +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 )
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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
91034eaf58
Making pose in FixedFramePoseData optional. ( #792 )
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This is for the case that the GPS signal is not available.
2018-01-08 11:37:07 +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
63a80c9340
Adding a minimal implementation of std::optional. ( #783 )
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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
58d94aaa68
Refactor calling optimization into DispatchOptimization. ( #729 )
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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
923d643b86
Fix obvious asan warnings. ( #787 )
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Adds a few missing overrides and removes a std::move that
prevented copy elision.
2018-01-05 10:18:08 +01:00
6125766c81
Define default num_event_threads config. ( #785 )
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(This was not covered by tests because they manually set it to 1.)
2018-01-04 13:51:30 +01:00
2ad83662f2
Migrate SubmapTexture and SubmapSlice logics from cartographer_ros ( #782 )
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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
9ee65293d2
Pose graph: do not mark all submaps finished when finalizing a trajectory. ( #784 )
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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
dbb3f7cde4
Test TrajectoryBuilderStub ( #780 )
2018-01-03 14:56:56 +01:00
269bf5b05a
Log output for failed tests ( #781 )
2017-12-20 16:08:27 +01:00
18cb9c324f
Make CMakeLists.txt install gRPC service headers. ( #779 )
2017-12-20 14:40:33 +01:00
c881fe90cf
Stub receives LocalSlamResults. ( #778 )
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[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 )
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[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
5b5b290e9f
Implement BlockingQueue::WaitUntilEmpty(). ( #775 )
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PAIR=gaschler
2017-12-20 10:22:53 +01:00
e0faf7094e
Change MapBuilderServer::LocalSlamSubscriptionCallback ( #776 )
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PAIR=gaschler
2017-12-20 09:46:54 +01:00
383b988548
TrajectoryBuilderStub sends WritesDone ( #774 )
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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 )
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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 )
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[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 )
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Pass MapBuilder to the constructor so the MapBuilder can be mocked.
2017-12-18 20:47:00 +01:00
5bb81a9b4a
correct MapBuilderStub ( #770 )
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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 )
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[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 )
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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 )
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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 )
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Defines the FixedFramePoseData RPC and implements
the handler for the gRPC server.
2017-12-15 15:26:58 +01:00
6817d22788
Test global 2D SLAM. ( #751 )
2017-12-15 14:45:56 +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 )
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[RFC=0002](https://github.com/googlecartographer/rfcs/blob/master/text/0002-cloud-based-mapping-1.md )
2017-12-14 16:30:01 +01:00
29e4395a5a
Make WaitForAllComputation wait for work queue in 3D as well ( #758 )
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Repeat the change in #754 by @gaschler for 3D as well.
2017-12-14 10:02:54 +01:00
f8452821d7
WaitForAllComputation waits for work queue ( #754 )
2017-12-13 18:49:22 +01:00
59d1b968bc
Unwarp by point in LocalTrajectoryBuilder. ( #636 )
2017-12-13 18:29:42 +01:00
e16d1b1207
Heap-allocate RpcEvents. ( #756 )
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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 )
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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
Susanne Pielawa
gaschler
Juraj Oršulić
Jihoon Lee