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330 Commits (67030b1ad3d1faecc4a0ff380115e62d557ead12)

Author SHA1 Message Date
Juraj Oršulić 67030b1ad3 Use start_trajectory_node topic remappings for the new trajectory. (#584) 2017-11-08 17:29:33 +01:00
Holger Rapp ff92e9e4bd
Follow googlecartographer/cartographer#637. (#583) 
Use c++ standard types instead of the values from port.h.
 2017-11-08 10:37:02 +01:00
Christoph Schütte e63126f329
Add ground truth stats to quality control pipeline. (#578) 2017-11-07 20:30:54 +01:00
Wolfgang Hess 1b8869bbf6
Unbreak the demo documentation. (#581) 2017-11-07 16:43:26 +01:00
Wolfgang Hess bf187d9059 Add 3D localization demo. (#580) 
Adds configuration files and launch files for 3D backpack pure
localization.

Moves most demos to a separate documentation page.
 2017-11-07 15:29:11 +01:00
Christoph Schütte f6a8903a40
Garbage collect scratch dir left-overs. (#573) 2017-11-06 13:21:35 +01:00
gaschler b665fbd6d2 Follow googlecartographer/cartographer#616. (#569) 2017-11-03 13:34:53 +01:00
Juraj Oršulić e2f018d311 Fix debug build. (#570) 2017-11-03 10:56:06 +01:00
Holger Rapp 7403d82fbb Added intensities to one more bag and added one new data set. (#554) 2017-11-02 16:30:39 +01:00
Wolfgang Hess e604529537
Update Ceres Solver to 1.13.0. (#564) 
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) 
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) 
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) 
Moves #529 forward.
 2017-10-16 14:23:56 +02:00
Holger Rapp 5b06f03558 Adds a rosbag_validate binary. (#536) 
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) 
- 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) 
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) 
* 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) 
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) 
PAIR=@cschuet
 2017-10-09 15:16:08 +02:00
gaschler e117b13ea7 Rename to OgreSlice. (#530) 
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) 
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) 
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) 
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) 
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) 
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) 
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) 
Enables servicing callbacks during final optimization, thus
enabling visualization of its progress in RViz. Fixes #476.
 2017-08-10 09:55:52 +02:00