This adds two launch files for running 2D and 3D demos.
A bag filename is expected as an argument and is played
back using simulation time while showing the result in a
preconfigured RViz window.
Using the catkin "suitesparse" and having libsuitesparse-dev installed
leads to builds which crash. This changes the configuration to suggest
using libsuitesparse-dev.
Removes the SceneManagerListener and instead computes the transform
when a new submap list is received. The second part of the transform
is also updated when a new texture is received.
Also simplifies the drawing code a bit by using a triangle strip.
Changes the confusingly named GetOdometryToMapTransform() function
to GetLocalToGlobalTransform(), since it is transforming from the
local SLAM map frame to the global SLAM map frame.
Uses a more concise name to show in RViz.
Moves updating the z fading out of the SceneManagerListener.
(to be removed in a future PR)
Simplifies SubmapsDisplay::processMessage() and
DrawableSubmap::Transform().
The 'version_' member of a DrawableSubmap is now properly initialized.
The redundant 'submap_id' in the SubmapQuery response is removed.
The missing slot for reset() is added.
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.
Changes the pose publishing to always publish the odom to map transform.
Either expects or provides (configurable) the odom to tracking transform.
Also cleans up the RViz plugin code a bit.
* Add code to allow offline processing of 2D Cartographer bags.
Fixes waiting for transforms to be published, adds support for multi-echo
laser scans, sets default values for the submap topic and query for the
RViz plugin.
Wolfgang Hess
Stefan Kohlbrecher
Damon Kohler
Damon Kohler