If the output of cartographer should be used as an input to an additional sensor fusion method,
using the published TF transform is inconvenient or in our specific use case even harmful
because we don't want to add the raw cartographer output to our TF tree.
With this change it becomes optional to broadcast to /tf.
Morever there is an option to publish the tracked frame pose as a PoseStamped message.
We add two new optional parameters:
- `publish_to_tf` if false no tf transform is broadcasted
- `publish_tracked_pose` If set `true` a PoseStamped representing the position of the
tracked pose w.r.t. map frame is published.
If default launchers and settings are used this PR causes no change in the behavior.
* Fix build status on front page.
Changes "googlecartographer" to "cartographer-project"
for references to CI and GitHub.
Following cartographer-project/cartographer#1693.
Signed-off-by: Wolfgang Hess <whess@lyft.com>
* Remove Indigo and Lunar Dockerfiles.
This restructures the doc as a tutorial leading newcomers to becoming experimented users.
It adds pages on:
- how to get started with Cartographer on a new .bag
- how Cartographer works and can be tuned step-by-step
- how to use "extra" features of Cartographer
- how to contribute to Cartographer
It also provides some cosmethic changes with: new titles, non-indented code blocks, various illustrations, reworked paragraphs for clarity...
* 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.
Jonathan Huber
Wolfgang Hess
fprott
Florent Revest
Wolfgang Hess
Juraj Oršulić
Damon Kohler
Damon Kohler