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
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.
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
gaschler
Holger Rapp
Yutaka Takaoka
Wolfgang Hess
Wolfgang Hess
Damon Kohler