Wolfgang Hess
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
Christoph Schütte
5408cf52c7
Fix bug in extract_last_occurence ( #568 )
2017-11-02 10:20:18 +01:00
Christoph Schütte
c945bb360a
Changes in BQ client API and constraints stats. ( #566 )
2017-11-02 09:26:35 +01:00
Christoph Schütte
8895bfc96a
Adds a worker script for running quality control jobs. ( #562 )
2017-10-30 16:24:12 +01:00
Christoph Schütte
ea3e7397ac
Fix bug in jenkins-slave ( #560 )
2017-10-27 14:35:33 +02:00
Christoph Schütte
b0f9bae145
Adds Dockerfiles for CQ pipeline ( #559 )
2017-10-27 13:27:50 +02:00
Christoph Schütte
b1184b1054
Add launch and lua files for quality evaluation pipelines. ( #555 )
2017-10-27 09:39:49 +02:00
gaschler
cf8e79559f
Follow TimedPointCloud. ( #549 )
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Follows googlecartographer/cartographer#601. (#573 )
2017-10-24 13:39:54 +02:00
Holger Rapp
137c75633f
Adds a PointsProcessor that can write ROS maps. ( #548 )
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Fixes #475 .
2017-10-23 10:40:43 +02:00
Wolfgang Hess
5d784e8adb
Prepare for googlecartographer/cartographer#605. ( #551 )
2017-10-19 16:58:07 +02:00
Christoph Schütte
adbaeb4fe6
Follow googlecartographer/cartographer#603. ( #550 )
2017-10-19 15:39:23 +02:00
Wolfgang Hess
b9dbfc6664
Follow googlecartographer/cartographer#597. ( #547 )
2017-10-17 16:55:33 +02:00
Wolfgang Hess
0a66c59547
Follow googlecartographer/cartographer#596. ( #546 )
2017-10-17 15:35:52 +02:00
Jihoon Lee
4c54a545a1
Visualize gaps in trajectories due to trimming. ( #500 )
2017-10-17 14:16:26 +02:00
Holger Rapp
6b22cfaf8d
Fix a crash, since subdivisions can be empty. ( #543 )
2017-10-17 13:12:24 +02:00
Wolfgang Hess
38f1c4dc14
Follow googlecartographer/cartographer#591. ( #542 )
2017-10-17 11:00:31 +02:00
Holger Rapp
fe28d33d38
Adds a dump_timing flag. ( #541 )
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Moves #529 forward.
2017-10-16 14:23:56 +02:00
Holger Rapp
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
Holger Rapp
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
Holger Rapp
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
gaschler
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
Jihoon Lee
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
Holger Rapp
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
gaschler
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
gaschler
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
Holger Rapp
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
Wolfgang Hess
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
Jihoon Lee
a2c8a8fe2d
Configurable occupancy grid publishing speed ( #504 )
2017-10-05 15:40:45 +02:00
gaschler
e02e634848
Allow multiple textures in ROS message. ( #506 )
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Forward all textures from protobuf to ROS messages.
2017-10-04 14:44:49 +02:00
Jihoon Lee
2a9e392023
Throttle rviz submap fading warning. ( #514 )
2017-10-04 13:14:59 +02:00
Damon Kohler
634769e9d0
Adds two new FAQ entries. ( #515 )
2017-09-29 16:06:34 +02:00
Jihoon Lee
92fefe3f7e
Serialize state before shutdown ( #502 )
2017-09-29 14:44:07 +02:00
Juraj Oršulić
3fab4ad6b6
Adds per-sensor fixed ratio samplers ( #499 )
2017-09-29 09:04:41 +02:00
gaschler
b8d63f3cc9
Handle multiple textures in protobuf. ( #503 )
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Handle the protobuf change from
googlecartographer/cartographer#519
by forwarding the first SubmapTexture if multiple are available.
* Nit.
* Check.
* Nit.
2017-09-13 16:43:25 +02:00
Wolfgang Hess
44b9e7b531
Follow googlecartographer/cartographer#498. ( #495 )
2017-09-01 16:15:16 +02:00
Christoph Schütte
0305ac67d8
Add mem stats for offline node. ( #493 )
2017-08-30 16:34:48 +02:00
Wolfgang Hess
7d609695cf
Remove unused options. ( #491 )
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The adaptive_voxel_filter option is no longer used in 3D.
2017-08-25 17:30:08 +02:00
Wolfgang Hess
af28b769b4
Follow googlecartographer/cartographer#462. ( #486 )
2017-08-18 17:59:14 +02:00
Yutaka Takaoka
5a2db79fc3
Add flag to start first trajectory. ( #482 )
2017-08-16 11:49:56 +02:00
Juraj Oršulić
cf13f76c82
Perform final optimization at the end. ( #483 )
2017-08-10 12:30:57 +02:00
Juraj Oršulić
102a3b0db3
Release mutex in Node during final optimization ( #480 )
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Enables servicing callbacks during final optimization, thus
enabling visualization of its progress in RViz. Fixes #476 .
2017-08-10 09:55:52 +02:00
Wolfgang Hess
4173beaf04
Only write pbstream file on success. ( #481 )
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The offline node will now only write the pbstream with the results if the
node finished processing without being interrupted. Partial results are
no longer written.
This also adds logging so that it is clear whether output was written.
2017-08-10 09:18:16 +02:00
Wolfgang Hess
f43e05626e
Also extrapolate based on odometry if available. ( #479 )
2017-08-09 12:36:50 +02:00
Mikael Arguedas
9867aeb1a3
Add Lunar to build matrix. ( #478 )
2017-08-08 12:41:21 +02:00
Mikael Arguedas
b6acc27553
Depend on Ceres 1.12.0 instead of 1.12.0rc4 ( #477 )
2017-08-08 11:41:39 +02:00
Juraj Oršulić
7f616b4cc7
Use trajectory ID as namespace for trajectory marker ( #473 )
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Also simplifies marker IDs since they must only be unique within a unique namespace.
2017-08-07 15:59:41 +02:00
Wolfgang Hess
ab1ca30353
Fix typo in the issue template. ( #474 )
2017-08-07 13:04:51 +02:00
Juraj Oršulić
b99c8b4cda
Keep offline node running, republish the clock. ( #468 )
2017-08-04 17:46:16 +02:00
Wolfgang Hess
4034f4f801
Deduplicate LoadOptions(). ( #471 )
2017-08-03 15:47:17 +02:00
Juraj Oršulić
2042b73010
Remove custom SIGINT handler from offline node. ( #470 )
2017-08-03 12:29:07 +02:00