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.
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