22d8573bd0
Fixes urdfdom_headers version compatibility ( #162 )
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Urdf changed their shared ptr type from boost to std. This PR detects which version of urdf is installed and uses the correct ptr type.
2016-11-08 00:21:34 -08:00
e8b5dd6465
Use FindSphinx.cmake from the Cartographer installation. ( #156 )
2016-10-28 16:10:20 +02:00
d0edcb5f95
Use function to convert submap pose to ROS message. ( #153 )
2016-10-27 18:00:18 +02:00
76212e1c79
Simplify SubmapToProto use. ( #152 )
2016-10-27 17:00:33 +02:00
a1eb540ffa
Add support for multiple consecutive trajectories. ( #151 )
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When the /finish_trajectory service is called, a new trajectory
is started with the same sensor configuration. This enables
"pause and resume".
2016-10-27 15:36:15 +02:00
7d95852192
Set INCLUDE_DIRS in catking_package ( #147 )
2016-10-26 17:46:46 +02:00
de53d1f7f6
Fix build with Qt5. ( #150 )
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- Include Qt5 include directories into search path. Fixes #138 .
- Supersedes and fixes #124 .
2016-10-26 14:47:57 +02:00
f100950244
Improve publishing of poses. ( #149 )
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When a new scan matched point cloud is published, its timestamp is used for
publishing corresponding transforms. Further transforms are stamped with
::ros::Time::now().
If configured to publish odom, the two published transforms are combined into
one tf message.
2016-10-26 13:31:51 +02:00
ec2d54ef84
Sets stamped_transform timestamp to ros::Time::now() ( #143 )
2016-10-26 12:40:19 +02:00
5f5762f458
Adds Willow Garage data set. ( #148 )
2016-10-26 10:32:25 +02:00
094e319d4a
Cartographer API changes. ( #146 )
2016-10-26 09:18:01 +02:00
26e956678f
Fix Docker build caching. ( #145 )
2016-10-25 15:41:00 +02:00
92678fa4fd
Adds a binary that runs over trajectory and data to create assets of all point data. ( #142 )
2016-10-25 14:47:42 +02:00
6dd217beab
Improve Docker caching. ( #139 )
2016-10-23 18:16:12 +02:00
20487028ed
Adds Docker caching to Travis build. ( #137 )
2016-10-21 12:37:59 +02:00
16f192aeb9
Write the trajectory on exporting. ( #134 )
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And some refactorings around writing assets.
2016-10-20 14:09:05 +02:00
af78dcbe55
Fix constness of Submaps to match the new API. ( #136 )
2016-10-20 12:01:56 +02:00
7f7933f26d
Manually require Qt5Widgets library if we use Qt5. ( #133 )
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Might fix #119 .
2016-10-19 18:27:23 +02:00
b8d9ac585e
Remove direct use of sensor::Collator. ( #132 )
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Collating the sensor data is now handled by the MapBuilder.
2016-10-19 17:55:20 +02:00
e4abb77835
Use pkg-config to find yaml-cpp. ( #130 )
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Fixes #117 .
2016-10-19 17:33:41 +02:00
a3010b7611
Check for pcl_conversions library at configuration time. ( #131 )
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Fixes #118 .
2016-10-19 17:10:22 +02:00
0289ece55d
Unify to AddLaserFan for both 2D and 3D. ( #129 )
2016-10-19 15:25:19 +02:00
ccbf9ef1be
Adapt to changes in cartographer and write PLY files on exporting. ( #128 )
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Also use reflectivity in the 'PointsBatch'es created in 'WriteAssets'.
In the online case, we throw away reflectivities during SLAMing to save
on memory, so there will be none.
2016-10-19 15:02:34 +02:00
b63611b2c3
Updated to work with new APIs. ( #125 )
2016-10-18 18:04:46 +02:00
caa77c8588
Removes templating on data type. ( #122 )
2016-10-17 16:39:29 +02:00
d1707853af
Moves SensorCollator into sensor package. ( #113 )
2016-10-17 10:58:18 +02:00
53df586f69
Write XRays for 3D runs when finalizing a trajectory. ( #116 )
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* Write XRays for 3D runs when finalizing a trajectory.
2016-10-14 17:02:09 +02:00
cfdab98cf3
Fix link to the ROS node source in the API documentation. ( #115 )
2016-10-14 13:55:49 +02:00
8d36c633b8
Updates use of LaserFan following cartographer. ( #114 )
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This follows changes from googlecartographer/cartographer#62 and
googlecartographer/cartographer#64 .
2016-10-14 12:41:00 +02:00
4557d9fd12
Use the simplified ToLaserFan3D function. ( #112 )
2016-10-13 15:31:47 +02:00
90872f3697
Update cMakeLists.txt. ( #111 )
2016-10-13 15:10:02 +02:00
0a76d10546
Moves SensorData struct into Cartographer. ( #110 )
2016-10-13 14:38:00 +02:00
bc3a4978f2
We do not use ZLIB anymore. ( #104 )
2016-10-13 12:31:28 +02:00
9ac88abcfc
Fix compile warnings and add a clarifying comment. ( #105 )
2016-10-13 11:44:19 +02:00
be7ce01463
Use Cartographer's cmake functions for ROS projects. ( #100 )
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- Move sources from <project>/src into project/project and fix includes.
- Add autogenerated CMakeFiles for ROS projects. The python script is
not yet fully updated to be used for keeping the files updated without
manual intervention though.
- Build everything with -fPIC, so we can create shared libraries.
2016-10-12 17:50:37 +02:00
0e8d219eef
Fix the IMU orientation in the 2D backpack URDF. ( #103 )
2016-10-12 17:27:17 +02:00
a6f89533c0
Configures intersphinx. ( #102 )
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* Refers back to Cartographer's system requirements.
2016-10-12 14:30:10 +02:00
e4f4b16e54
Adds documentation about the 2D backpack data. ( #99 )
2016-10-11 17:12:37 +02:00
7a70ef92a6
Improves documentation. ( #97 )
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* Adds system requirements to the documentation.
* References our mailing list.
2016-10-11 15:48:27 +02:00
61183d5dbc
Improve the 2D backpack URDF. ( #96 )
2016-10-11 15:12:23 +02:00
2631799820
Tiny formatting changes. ( #93 )
2016-10-11 09:54:40 +02:00
d4825af3d4
Moves sensor data transformation into SensorBridge. ( #88 )
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* Pulls out TfBridge.
* SensorBridge has its own options.
* SensorBridge is now responsible for transforming the sensor data into the tracking frame.
* Constant odometry covariance is no longer optional.
2016-10-10 16:15:17 +02:00
2a040bc755
Directly use Eigen representations of IMU data. ( #91 )
2016-10-10 13:29:37 +02:00
a02dfa084a
Renames SensorDataProducer to SensorBridge. ( #90 )
2016-10-10 10:58:27 +02:00
0c8d6afc33
Disable culling for submaps and reduce overdraw. ( #85 )
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We disable backface culling so that submaps also show when looked at from
below.
We add a depth bias to move submaps further to the back, so that submaps
do not overdraw the visualization of laser scans which makes the latter
sometimes hard to see.
2016-10-06 16:53:31 +02:00
1418902493
Do not republish unchanged scan matched point clouds. ( #84 )
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Before, republishing the point clouds at high frequency caused unnecessary
computational load.
This also fixes an issue seen in RViz:
After replaying a bag, point clouds with the same timestamp were continued to
be published. These were never dropped by the PointCloud2 display leading to
excessive memory consumption and bad visualization performance.
2016-10-06 15:11:17 +02:00
f4e89a070e
Small fixes. ( #83 )
2016-10-05 17:27:21 +02:00
407c7fb3d8
Fleshes out the ROS API documentation. ( #82 )
2016-10-05 16:33:50 +02:00
965d70fbee
Also write a YAML file for the final map. ( #81 )
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This allows the saved map to be served by map_server.
2016-10-05 15:30:25 +02:00
6fd405c78d
Add support for finishing and writing 2D maps. ( #80 )
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When receiving a FinishTrajectory call, the Cartographer nodes catches up on
computing loop closures, runs a final optimization, and when in 2D writes out
a PGM map similar to map_saver.
2016-10-05 12:28:29 +02:00
Atsushi Watanabe
Wolfgang Hess
Thiago de Freitas
Holger Rapp
Stefan Kohlbrecher
Damon Kohler
Damon Kohler