e6060567b0
Use node_handle.resolveName in start_trajectory_main. ( #597 )
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As discussed in #584 . The two functions behave completely identical for our purposes, so renaming for consistency with the rest of cartographer_ros.
2017-11-16 11:09:07 +01:00
a3df182d7e
Follow googlecartographer/cartographer#680. ( #596 )
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[RFC=0001](https://github.com/googlecartographer/rfcs/blob/master/text/0001-renaming-sparse-pose-graph.md )
2017-11-15 15:52:44 +01:00
6b68522fcc
Follow googlecartographer/cartographer#677. ( #595 )
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[RFC=0001](https://github.com/googlecartographer/rfcs/blob/master/text/0001-renaming-sparse-pose-graph.md )
2017-11-15 12:57:50 +01:00
7931d1e53c
Follow googlecartographer/cartographer#574. ( #593 )
2017-11-14 18:32:27 +01:00
b56903c1bb
Do not include trimmed submaps into the occupancy grid ( #591 )
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Derive submap IDs that don't appear in the submap list anymore and delete the corresponding slices from our state before drawing.
2017-11-14 14:49:19 +01:00
9fb2b09a0b
Unify finish trajectory logic ( #552 )
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Port active trajectory checks and subscriber shutdown logic into FinishTrajectory(), so that a trajectory can be cleanly finished by function call.
2017-11-14 11:30:39 +01:00
3e684b298b
Add proto3 installation to jenkins Dockerfile. ( #590 )
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[RFC=0000](https://github.com/googlecartographer/rfcs/blob/master/text/0000-proto3-transition.md )
2017-11-13 18:52:10 +01:00
5210e92533
Add proto3 install scripts to Dockerfiles and update docs. ( #589 )
2017-11-13 10:48:00 +01:00
53b9306d6e
Remove io component of PCL. ( #588 )
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The `io` component of PCL brings in VTK, which in turn creates a lot of CMake pollution (such as bringing in Qt, which is completely unnecessary for `cartographer_ros`).
2017-11-13 09:28:29 +01:00
ef57b43323
Revert "Fix PCL linking issue in Zesty ( #396 )" ( #574 )
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This reverts commit 125aee30118b32dcd078
2017-11-10 14:38:31 +01:00
d0697e6847
Follow googlecartographer/cartographer#599 ( #561 )
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Use submap_painter. Merge this after googlecartographer/cartographer#599 .
2017-11-10 13:27:27 +01:00
ae6aefaf97
Don't `set -o verbose` in ros_entrypoint.sh ( #558 )
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All it does is source some large scripts, which results in lots of
logspam when the container starts up. It then runs exec, after which the
`verbose` setting has no effect.
2017-11-09 13:36:40 +01:00
7540dfa674
Increase 3D global localization score threshold. ( #587 )
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With googlecartographer/cartographer#640 submitted,
global localization in 3D seems to behave as expected,
so there is no longer a need for a low minimum score.
We increase the minimum score to be slightly above the
minimum score used in the same trajectory. This is to
reduce the amount of outliers which are worse in this
case. This change also moves it into the backpack_3d.lua
file since it should also apply to multi-trajectory SLAM.
2017-11-09 12:28:33 +01:00
67030b1ad3
Use start_trajectory_node topic remappings for the new trajectory. ( #584 )
2017-11-08 17:29:33 +01:00
ff92e9e4bd
Follow googlecartographer/cartographer#637. ( #583 )
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Use c++ standard types instead of the values from port.h.
2017-11-08 10:37:02 +01:00
e63126f329
Add ground truth stats to quality control pipeline. ( #578 )
2017-11-07 20:30:54 +01:00
1b8869bbf6
Unbreak the demo documentation. ( #581 )
2017-11-07 16:43:26 +01:00
bf187d9059
Add 3D localization demo. ( #580 )
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Adds configuration files and launch files for 3D backpack pure
localization.
Moves most demos to a separate documentation page.
2017-11-07 15:29:11 +01:00
f6a8903a40
Garbage collect scratch dir left-overs. ( #573 )
2017-11-06 13:21:35 +01:00
b665fbd6d2
Follow googlecartographer/cartographer#616. ( #569 )
2017-11-03 13:34:53 +01:00
e2f018d311
Fix debug build. ( #570 )
2017-11-03 10:56:06 +01:00
7403d82fbb
Added intensities to one more bag and added one new data set. ( #554 )
2017-11-02 16:30:39 +01:00
e604529537
Update Ceres Solver to 1.13.0. ( #564 )
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This is expected to improve the performance when solving the
global SLAM optimization problem.
2017-11-02 11:14:50 +01:00
5408cf52c7
Fix bug in extract_last_occurence ( #568 )
2017-11-02 10:20:18 +01:00
c945bb360a
Changes in BQ client API and constraints stats. ( #566 )
2017-11-02 09:26:35 +01:00
8895bfc96a
Adds a worker script for running quality control jobs. ( #562 )
2017-10-30 16:24:12 +01:00
ea3e7397ac
Fix bug in jenkins-slave ( #560 )
2017-10-27 14:35:33 +02:00
b0f9bae145
Adds Dockerfiles for CQ pipeline ( #559 )
2017-10-27 13:27:50 +02:00
b1184b1054
Add launch and lua files for quality evaluation pipelines. ( #555 )
2017-10-27 09:39:49 +02:00
cf8e79559f
Follow TimedPointCloud. ( #549 )
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Follows googlecartographer/cartographer#601. (#573 )
2017-10-24 13:39:54 +02:00
137c75633f
Adds a PointsProcessor that can write ROS maps. ( #548 )
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Fixes #475 .
2017-10-23 10:40:43 +02:00
5d784e8adb
Prepare for googlecartographer/cartographer#605. ( #551 )
2017-10-19 16:58:07 +02:00
adbaeb4fe6
Follow googlecartographer/cartographer#603. ( #550 )
2017-10-19 15:39:23 +02:00
b9dbfc6664
Follow googlecartographer/cartographer#597. ( #547 )
2017-10-17 16:55:33 +02:00
0a66c59547
Follow googlecartographer/cartographer#596. ( #546 )
2017-10-17 15:35:52 +02:00
4c54a545a1
Visualize gaps in trajectories due to trimming. ( #500 )
2017-10-17 14:16:26 +02:00
6b22cfaf8d
Fix a crash, since subdivisions can be empty. ( #543 )
2017-10-17 13:12:24 +02:00
38f1c4dc14
Follow googlecartographer/cartographer#591. ( #542 )
2017-10-17 11:00:31 +02:00
fe28d33d38
Adds a dump_timing flag. ( #541 )
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Moves #529 forward.
2017-10-16 14:23:56 +02:00
5b06f03558
Adds a rosbag_validate binary. ( #536 )
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So far it creates statistics over timing information of the sensor data that Cartographer cares about. It also reports if time jumps backwards for a sensor.
Also updates the GitHub issue template to ask users to run this binary when reporting issues.
I verified that this tool is sufficient to analyze all the timing related issues mentioned in #529 .
2017-10-13 17:26:50 +02:00
b9877fed12
Update 3D public data ( #538 )
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- Remove a bag that had the same data as another, just different timestamps.
- Republish a few bags with laser intensities.
2017-10-13 16:24:03 +02:00
8539e1a601
Add a --output_file_prefix option to the asset writer. ( #537 )
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It defaults to using the first bag name, i.e. the files end up next to the input file which is more ergonomic than having them end up in $HOME/.ros.
2017-10-13 15:36:11 +02:00
6a3dc04510
Visualize both high and low res slices. ( #532 )
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* OgreSlice has a slice_id.
This is necessary because we will have multiple OgreSlices
and Ogre requires unique names for textures and other entities.
* Visualize both high and low res slices.
Adds checkboxes to the rviz plugin to show high and low
resolution slices.
DrawableSubmap now holds a vector of OgreSlices and
decides which slices are visible.
* Corrections. Move slice visibility to OgreSlice.
2017-10-12 02:48:57 -07:00
f9157b2a26
Insert resolved topic name in subscribed_topics_ ( #516 )
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As unique id for an individual subscriber.
2017-10-09 15:40:53 +02:00
5b953d202e
Adds a tool that filters leading slashes from topic names in bags. ( #527 )
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PAIR=@cschuet
2017-10-09 15:16:08 +02:00
e117b13ea7
Rename to OgreSlice. ( #530 )
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Renames OgreSubmap to OgreSlice in preparation for that a
DrawableSubmap should hold multiple OgreSlices, so multiple
types of slices for one submap can be visualized.
2017-10-09 14:48:51 +02:00
b2a2ac4912
FetchSubmapTextures returns multiple textures. ( #519 )
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This changes the Ros api that multiple textures will be returned,
which are forwarded from the Ros service call.
Adapts all usages to follow this new api.
2017-10-09 04:19:48 -07:00
d5e6647206
Unwarp each (MultiEcho)LaserScan point in the assets_writer_main. ( #526 )
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Since these contain timing information, we can use the SLAM trajectory
to compensate for ego motion (unwarp) and the TF messages and URDF to
compensate for sensor-to-tracking motion.
This improves quality greatly.
2017-10-06 14:23:18 +02:00
e79754bf71
No preloading of tf in the assets writer. ( #524 )
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This follows the logic used in the offline node to only keep
a smaller buffer of tf data. This is necessary for performance.
Fixes #349 .
2017-10-06 11:53:19 +02:00
a2c8a8fe2d
Configurable occupancy grid publishing speed ( #504 )
2017-10-05 15:40:45 +02:00
Juraj Oršulić
Wolfgang Hess
Michael Grupp
Jihoon Lee
Christoph Schütte
Rodrigo Queiro
Holger Rapp
gaschler