* 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.
The publish_occupancy_grid option is removed, and the publisher always
created in 2D. Only when subscribed to, we start computing OccupancyGrids.
Adds documentation for published topics where this is now documented.
Fixes configuration files to work with the latest code changes.
Also removes the remapping from turtlebot.launch which does not
seem to be useful so far.
Adds an option publish_occupancy_grid (disabled by default) which continuously
computes and publishes OccupancyGrid in a background thread. Only the 2D case is
currently supported.
And small code style and typo fixes.
Adds an 'expect_odometry_data' option to the configuration. When enabled,
listens to the '/odom' topic, which must provide odometry that is taken
into account for SLAM.
Also renames the 'provide_odom' option to 'provide_odom_frame'.
Configuration of Cartographer's ROS integration is now
entirely handled by Lua. The path and basename of the
configuration are given by command line flags.
The node is listening to default topic names which are
expected to be remapped as needed.
Instead of drawing into a offscreen texture and blitting the
result as an overlay (which shows up on top of everything else)
we directly draw to the RViz scene. To get proper X-rays one
should use a 0.5 gray background for now.
Also fixes the configuration to enable 3D mapping from a bag.
Damon Kohler
Damon Kohler
Wolfgang Hess
Holger Rapp
Wolfgang Hess
Stefan Kohlbrecher
Rohan Agrawal