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Author SHA1 Message Date
mgladkova 92a8b81a84 Simplify start_trajectory service (RFC-28) (#1245) 
* Simplify start_trajectory.

* Ran clang-format.

* Make corrections based on the review

* Make corrections based on review #2, remove obsolete functions

* Remove unnecessary local variables
 2019-05-07 16:53:06 +02:00
Mikael Arguedas ed418405b5 move metrics messages at root of msg folder (#1020) 2018-10-17 14:41:08 +02:00
Alireza dd4d2af58b feat: Publish progress of processing the bagfile (#940) 2018-09-27 12:44:29 +02:00
Alexander Belyaev 944b22575f
Use 'landmarks' instead of 'landmark'. (#931) 2018-07-09 13:23:52 +02:00
Michael Grupp 237dd83b60 Add internal metric families. (#914) 
- minimal counter, gauge and histogram implementations
- metric family interfaces as defined in libcartographer
- serializable to ROS messages

RFC: https://github.com/googlecartographer/rfcs/pull/26
 2018-07-02 10:26:58 +02:00
Michael Grupp f5b583fde8 Allow to ignore (un-)frozen submaps in the occupancy grid node. (#899) 2018-06-29 13:28:40 +02:00
Michael Grupp 8bbec6bff7 Use PoseGraphInterface::TrajectoryState from libcartographer (#910) 
https://github.com/googlecartographer/rfcs/pull/35

- makes use of the trajectory state in `map_builder` and `node`
- adds a service to query the trajectory states
- follow-up to https://github.com/googlecartographer/cartographer/pull/1214
  that takes the deleted state into account in the `/finish_trajectory` service
  (could crash otherwise)
 2018-06-29 11:14:56 +02:00
Mikael Arguedas 46cfb7dfad [cartographer_ros_msgs] Message dependency fixup (#882) 
* add missing std_msgs dependency
* use full message identifier to match be consistent with the other messages from this package
 2018-05-30 09:59:16 +02:00
Alexander Belyaev 61dd57bd94
Pass ROS landmark topic to the cartographer. (#746) 
[Landmark RFC](https://github.com/googlecartographer/rfcs/blob/master/text/0011-landmarks.md)
 2018-03-02 11:37:10 +01:00
Alexander Belyaev 463999873a
Add a ROS message for landmark observations. (#732) 
[Landmark RFC](https://github.com/googlecartographer/rfcs/blob/master/text/0011-landmarks.md)
 2018-02-27 18:14:39 +01:00
Michael Grupp 5251634d3d Add option to publish a pure 2D pose. (#683) 
If the new `publish_frame_projected_to_2d` option is set to true,
the published pose will be restricted to a pure 2D pose
(no roll, pitch, or z-offset).
This prevents potentially unwanted out-of-plane poses in 2D mode
that can occur due to the pose extrapolation step (e.g. if the pose
shall be published as a 'base-footprint'-like frame).
 2018-02-26 12:30:58 +01:00
Michael Grupp 3ca30fc904 Refactor ROS service responses. (#708) 
Provide a descriptive StatusResponse msg field consisting of
an gRPC-like StatusCode and message string to the service caller.

Implements [RFC 13](https://github.com/googlecartographer/rfcs/blob/master/text/0013-improve-ros-service-responses.md).
 2018-02-06 18:06:08 +01:00
Susanne Pielawa 960d1a487c Wiring for sensor_msgs::NavSatFix (#659) 
PAIR=wohe

[RFC=0007](https://github.com/googlecartographer/rfcs/blob/master/text/0007-nav-sat-support.md)
 2018-01-11 13:11:27 +01:00
gaschler e02e634848 Allow multiple textures in ROS message. (#506) 
Forward all textures from protobuf to ROS messages.
 2017-10-04 14:44:49 +02:00
Juraj Oršulić 3fab4ad6b6 Adds per-sensor fixed ratio samplers (#499) 2017-09-29 09:04:41 +02:00
Wolfgang Hess e5c2881b90 Support multiple LaserScan and MultiEchoLaserScan topics. (#435) 
This fixes #212.
 2017-07-21 14:07:15 +02:00
Wolfgang Hess c58a262d56 Add support for subdividing laser scan messages. (#428) 
This adds an option to subdivide sensor_msgs/LaserScan and
sensor_msgs/MultiEchoLaserScan messages into multiple point
clouds. For slow spinning laser scanners this allows unwarping
using googlecartographer/cartographer#408.
 2017-07-19 14:15:11 +02:00
Wolfgang Hess 1eca669024 Handle trimmed submaps in the visualization. (#389) 
Related to googlecartographer/cartographer#283.

PAIR=SirVer
 2017-06-21 16:36:01 +02:00
Yutaka Takaoka 9d5b221ed4 Enable multi-trajectory on ROS node (#346) 2017-05-31 11:21:24 +02:00
Juraj Oršulić a2b6dd7510 Change SubmapEntry submap_version field to be int32 (#292) 
This matches the specification in SubmapQuery.srv and Cartographer API,
and resolves a misc IDE warning about unsigned/signed assignment.
 2017-03-29 12:20:58 +02:00
Wolfgang Hess 7ead7400d4 Change the RViz plugin to use MessageFilterDisplay. (#6) 2016-08-04 15:58:41 +02:00
Damon Kohler aabd51e029 Renames google_cartographer* to cartographer_ros*. 2016-08-03 12:57:56 +02:00