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Author SHA1 Message Date
gaschler f5c88ff32e Tool for comparing pure localization to offline optimization (#803) 
Adds a tool to measure the difference between a trajectory from a pbstream and one given by tf messages in a bag file, and a script to evaluate real-time pure localization poses compared to a globally optimized mapping poses.
 2018-04-04 17:18:31 +02:00
gaschler d50ad4f70c
Show constraints in rviz (#789) 2018-04-04 15:47:35 +02:00
gaschler e1774c82a9 Launch script to visualize pbstream in rviz (#788) 2018-03-29 15:28:25 +02:00
Kevin Daun 7d09140ee4 Add constraint-dependent trajectory visualization. (#756) 2018-03-26 16:45:58 +02:00
Juraj Oršulić 913142f9c7 Avoid failed CHECK when running offline node with no bags. (#777) 
Bug introduced in #680.
 2018-03-26 15:47:15 +02:00
gaschler 881fa76150
Ignore empty laser scan message. (#767) 
FIXES=#766
 2018-03-26 14:58:21 +02:00
Juraj Oršulić 8dc0352d43 Minor optimizations of cases with no subscribers (#755) 2018-03-06 15:42:15 +01:00
Juraj Oršulić b274743eb7 Add time skip option for offline node (#680) 
Introduces a "skip" option which skips first _t_ seconds.
 2018-03-05 20:33:57 +01:00
Alexander Belyaev 4746d5a734
Follow https://github.com/googlecartographer/cartographer/pull/958. (#754) 2018-03-05 13:42:00 +01:00
Christoph Schütte f5efe13c8a
Ensure cache invalidation when building CQ pipeline (#753) 2018-03-05 08:47:13 +01:00
Alexander Belyaev 319b60af4c
Follow https://github.com/googlecartographer/cartographer/pull/955. (#751) 2018-03-02 23:09:24 +01:00
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 e583785720
Follow PR [#950](https://github.com/googlecartographer/cartographer/pull/950). (#750) 
[Internal hdrs RFC](https://github.com/googlecartographer/rfcs/blob/master/text/0003-internal-headers.md)
 2018-03-01 18:15:35 +01:00
Michael Grupp 15517addb1 Fix table formatting in data.rst (#748) 
Adds whitespace to make restructured text happy again.
 2018-03-01 11:21:01 +01:00
Michael Grupp 289e4314be Fix pbstream_map_publisher (follow #712) (#745) 
Applies the proto deserialization changes that
were introduced in PR #712.
 2018-02-28 16:36:50 +01:00
Christoph Schütte 24239beec8 s/LoadMap/LoadState in node_grpc_main.cc (#744) 2018-02-28 14:13:24 +01:00
Juraj Oršulić 22261553bb Offline multi-trajectory: use topic names without 'bag_n_' prefix by default (#707) 
This fixes offline_backpack_*.launch for multiple bags.
 2018-02-28 11:51:17 +01:00
Christoph Schütte ebbb1da8b0 Add Toru to CQ pipeline (#743) 2018-02-28 10:42:31 +01:00
Michael Grupp 7a36712405 Use CreateOccupancyGridMsg() in occupancy_grid_node_main.cc (#715) 
Follow-up of PR #711.
 2018-02-27 22:15:39 +01:00
Juraj Oršulić b7d8af834e Unfrozen trajectories (#710) 
Unfrozen trajectories
 2018-02-27 21:26:52 +01:00
Christoph Schütte 32542786a8
Add Jenkinsfile for Fetch and Backpack pipeline (#741) 
* Add Jenkinsfile for Fetch and Backpack pipeline
 2018-02-27 20:26:45 +01:00
Michael Grupp 185ba8b6da Add Magazino public datasets to data.rst (#738) 
* Add Magazino public datasets to data.rst
 2018-02-27 20:12:57 +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
Christoph Schütte faa21f4234
Make ros_pkg configurable for Jenkins workers (#740) 
* Make ros_pkg configurable for Jenkins workers
 2018-02-27 15:00:59 +01:00
Christoph Schütte 58f463dc98
Add Fetch and Toru platform to Jenkins build (#739) 2018-02-27 14:21:34 +01:00
Alexander Belyaev 15bf0db270
Fix the path to mapping_*d includes. (#736) 
[Code structure RFC](https://github.com/googlecartographer/rfcs/blob/master/text/0016-code-structure.md)
 2018-02-26 21:11:09 +01:00
gaschler be592f55fa Validate tool checks per-point time stamps. (#737) 
Checks for per-point timing issues in a bag file.
Feature is tracked in #529.
 2018-02-26 18:16:59 +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
Christoph Schütte caac1b3ae5
Follow googlecartographer/cartographer#922 (#734) 
* Follow  googlecartographer/cartographer#927
 2018-02-23 15:02:18 +01:00
gaschler fb947f5c7e Avoid auto for Eigen expressiongs. (#719) 
While harmless in most cases, auto can delay evaluation
of expressions in unexpected ways.
So it is better to avoid auto for Eigen expressions.
https://eigen.tuxfamily.org/dox/TopicPitfalls.html
 2018-02-19 14:40:13 +01:00
gaschler a2a587b3cb Update README.rst (#724) 2018-02-19 08:54:13 +01:00
Alexander Belyaev 7b9e2fe2e1
RViz settings for landmarks. (#717) 
[RFC=0011](https://github.com/googlecartographer/rfcs/blob/master/text/0011-landmarks.md)
 2018-02-12 09:55:24 +01:00
Alexander Belyaev c2b0143a5e
Publish Landmark markers for RViz. (#713) 
[RFC=0011](https://github.com/googlecartographer/rfcs/blob/master/text/0011-landmarks.md)
 2018-02-08 14:34:58 +01:00
Michael Grupp f5a7e2bb77 Add pbstream_map_publisher_main.cc (#711) 
Implements [RFC 06](https://github.com/googlecartographer/rfcs/blob/master/text/0006-serve-ros-map-from-pbstream.md)
 2018-02-07 19:48:18 +01:00
Christoph Schütte 5cd81be61e Follow googlecartographer/cartographer#859 (#712) 2018-02-07 16:24:20 +01:00
Michael Grupp 512a9cc358 Mention built-in evaluation tools in the tuning guide. (#705) 
Other changes:
- Moved the 'Verification' paragraph in the tuning guide up,
  as it fits better after the particular issue discussed before 'Special Cases'.
- Fixed 'WARNING: Title underline too short.' messages.
 2018-02-06 19:14:49 +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
Holger Rapp 8f14350e83 Fix link for a bag with intensities. (#704) 2018-02-02 21:31:25 +01:00
Juraj Oršulić 2538ac3e45 Offline node: better support for sequential bags. (#694) 
Allow same topics to be used in different bags (a previously supported use case).
Remove unused variable `current_bag_sensor_topics`.
Touch up flag descriptions.

Fixes #693.

pair=@gaschler
 2018-01-29 15:43:25 +01:00
gaschler 9a63a0479c Follow googlecartographer/cartographer#839 (#686) 
Follow change googlecartographer/cartographer#839 from string to struct SensorId.
Compute expected sensor ids for multiple trajectories.
Remove command argument input for sensor ids.
Make some methods const.
Clean up.
 2018-01-26 16:04:42 +01:00
Juraj Oršulić 7fc931688c Do not forget to finish trajectory if last message is not from a sensor topic (#681) 
Bug introduced in #636.
 2018-01-25 16:13:38 +01:00
gaschler 8d8a86790a Fix segfault in rosbag_validate (#685) 2018-01-25 14:37:16 +01:00
Alexander Belyaev 7cf570d19e Add a launch file for 2d localization demo with gRPC. (#682) 2018-01-25 10:44:30 +01:00
Juraj Oršulić d65f3c0f47 Simultaneous offline multi trajectories (#636) 
RFC=[0009](https://github.com/googlecartographer/rfcs/pull/4)
 2018-01-24 11:19:43 +01:00
Juraj Oršulić d96aa2105b Constraints visualization: Separate inter constraints between separate trajectories (#634) 2018-01-24 09:09:55 +01:00
gaschler ac15e46727 Fix gflags include in offline nodes (#677) 
FIX=#676
 2018-01-23 23:37:15 +01:00
Christoph Schütte 9e5dce96f6 Fix gflags include in offline_node.cc (#676) 
FIX=#676
 2018-01-23 18:16:22 +01:00
Susanne Pielawa f61e513bd6 Make fade out distance configurable (#674) 2018-01-22 16:43:48 +01:00
Juraj Oršulić 7cc4fec316 Deduplicate loading options for offline node (#664) 
This is preparation for #636. 

I noticed that there is duplicated code for loading options for the offline and GRPC offline node because they are needed while constructing the map builder for the non-GRPC offline node (and that step is the only difference between the offline node and the GRPC offline node).

I got around this by passing a map builder factory to `RunOfflineNode` instead, so we can deduplicate the code for loading options by doing it inside `RunOfflineNode`.
 2018-01-19 10:20:47 +01:00
Susanne Pielawa 1eda46a941 Adding NavSatFix to trajectory builder. (#666) 
GPS message is converted first to ECEF, and then to a local frame. The first GPS message defines the local frame. 

PAIR=wohe

[RFC=0007](https://github.com/googlecartographer/rfcs/blob/master/text/0007-nav-sat-support.md)
 2018-01-12 19:35:16 +01:00