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12 Commits (6b9d8ff2d5ba10b5e5eb8d8cf33df71eca257902)

Author SHA1 Message Date
Michael Grupp edf25139a2 Add include_unfinished_submaps parameter to SerializeState() (#966) 
- 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`
 2018-08-02 19:42:15 +02:00
Michael Grupp be7ecf2e0d Register internal metrics and provide a public interface. (#917) 
[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
 2018-07-04 17:38:17 +02:00
Michael Grupp 8bbec6bff7 Use PoseGraphInterface::TrajectoryState from libcartographer (#910) 
https://github.com/googlecartographer/rfcs/pull/35

- makes use of the trajectory state in `map_builder` and `node`
- adds a service to query the trajectory states
- follow-up to https://github.com/googlecartographer/cartographer/pull/1214
  that takes the deleted state into account in the `/finish_trajectory` service
  (could crash otherwise)
 2018-06-29 11:14:56 +02:00
Mikael Arguedas 46cfb7dfad [cartographer_ros_msgs] Message dependency fixup (#882) 
* add missing std_msgs dependency
* use full message identifier to match be consistent with the other messages from this package
 2018-05-30 09:59:16 +02:00
Michael Grupp 3ca30fc904 Refactor ROS service responses. (#708) 
Provide a descriptive StatusResponse msg field consisting of
an gRPC-like StatusCode and message string to the service caller.

Implements [RFC 13](https://github.com/googlecartographer/rfcs/blob/master/text/0013-improve-ros-service-responses.md).
 2018-02-06 18:06:08 +01:00
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
Holger Rapp 99da2f20d8 Enable OccupancyGridNode and remove generating of assets in the node. (#436) 
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.
 2017-07-21 17:19:47 +02:00
Yutaka Takaoka 9d5b221ed4 Enable multi-trajectory on ROS node (#346) 2017-05-31 11:21:24 +02:00
Wolfgang Hess a1eb540ffa Add support for multiple consecutive trajectories. (#151) 
When the /finish_trajectory service is called, a new trajectory
is started with the same sensor configuration. This enables
"pause and resume".
 2016-10-27 15:36:15 +02:00
Wolfgang Hess 6fd405c78d Add support for finishing and writing 2D maps. (#80) 
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.
 2016-10-05 12:28:29 +02:00
Wolfgang Hess 916b4fbac3 Fixes bug not displaying all submaps in RViz. (#9) 
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.
 2016-08-04 17:59:03 +02:00
Damon Kohler aabd51e029 Renames google_cartographer* to cartographer_ros*. 2016-08-03 12:57:56 +02:00