This `/trajectory_query` service allows to look up trajectory segments
from the pose graph.
This can be useful if one wants to get optimized trajectory data from
the current SLAM run and listening to live TF data would be too noisy.
For example, to stitch buffered point cloud data from a depth sensor
based on a recent localization trajectory segment of a robot.
Before, the pose graph trajectory nodes were not available except for
the trajectory marker topic (only positions, no orientation; inefficient)
or after serialization (which is not practical in live operation).
- default to false in gRPC node (unsupported in `MapBuilderStub`)
- default to true in classic ROS nodes (as it was before)
- add as parameter to `write_state`
[RFC 24](https://github.com/googlecartographer/rfcs/blob/master/text/0024-monitoring-ros.md)
Public API:
- adds `cartographer_ros::metrics::FamilyFactory`
- compatible with `::cartographer::metrics::RegisterAllMetrics`
Public RPC interface:
- adds the ROS service `/read_metrics`
- response contains the latest values of all available metric families
As per ROS [tutorials](http://wiki.ros.org/ROS/Tutorials/DefiningCustomMessages#Dependencies)
Edit: For future readers, the linked tutorial was referring to `run_depend` from package format 1 as pointed out by @ojura, it has now been updated to refer to `exec_depend` from format 2
If the new `publish_frame_projected_to_2d` option is set to true,
the published pose will be restricted to a pure 2D pose
(no roll, pitch, or z-offset).
This prevents potentially unwanted out-of-plane poses in 2D mode
that can occur due to the pose extrapolation step (e.g. if the pose
shall be published as a 'base-footprint'-like frame).
This will allow us to keep way less information in memory for SLAMing and fixes crashes related to multi trajectory (e.g. this fixes#413).
It also means that to get to an X-Ray or a map, users need to run the asset writer now after SLAMing, which is inconvenient.
Remove dependency on YAML and delete more dead code.
This adds an option to subdivide sensor_msgs/LaserScan and
sensor_msgs/MultiEchoLaserScan messages into multiple point
clouds. For slow spinning laser scanners this allows unwarping
using googlecartographer/cartographer#408.
- Move sources from <project>/src into project/project and fix includes.
- Add autogenerated CMakeFiles for ROS projects. The python script is
not yet fully updated to be used for keeping the files updated without
manual intervention though.
- Build everything with -fPIC, so we can create shared libraries.
When receiving a FinishTrajectory call, the Cartographer nodes catches up on
computing loop closures, runs a final optimization, and when in 2D writes out
a PGM map similar to map_saver.
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.
Michael Grupp
Mikael Arguedas
Alireza
Alexander Belyaev
Mikael Arguedas
Susanne Pielawa
Christoph Schütte
gaschler
Juraj Oršulić
Holger Rapp
Wolfgang Hess
Damon Kohler
Yutaka Takaoka
Wolfgang Hess