This fixes#1050. Tested standalone compilation and with the debian fakeroot tool. I had to build with a custom Protobuf3 instance though, so another build-check on a regular setup would be appreciated.
Before this change all *.cc files would be included. If subprojects
were run individually with the Debian package generator. This resulted in an
inclusion of temporarily checked out *.cc from the abseil include. This
change fixes the import behaviour and enables the creation of a valid
package.
This restructures the doc as a tutorial leading newcomers to becoming experimented users.
It adds pages on:
- how to get started with Cartographer on a new .bag
- how Cartographer works and can be tuned step-by-step
- how to use "extra" features of Cartographer
- how to contribute to Cartographer
It also provides some cosmethic changes with: new titles, non-indented code blocks, various illustrations, reworked paragraphs for clarity...
With two 20 Hz lidars and a 200 Hz IMU, the progress reports were outputted every 500 seconds, which is really too sparse to be useful. Decrease this by a factor of 10.
Fixes strange behavior with empty leftover entries in the trajectory list of the RViz plugin.
By using an `std::map` instead of an `std::vector` for the trajectories we can
easily erase trajectories which do not appear in the submap list anymore.
As @ojura reported and explained in #940, there is a critical issue with the new changes introduced in the mentioned PR, which significantly slows down the offline node.
- The reason of this problem was that In order to count the number of processed messages the `std::distance` function was used which is computationally expensive(O(n)).
- Instead, the former `log_counter_` and now `message_counter_` class variable which was used to print a message every X seconds is also employed to count the number of the processed (and also skipped) messages.
We have already a cloned source space in the base image, which can be
buggy according to: https://github.com/vcstools/wstool/issues/77
This should unblock Travis and fix local builds.
Set the visibility in he constructor, otherwise the setting won't have
an effect on newly created submap slices unless it's toggled again.
Somehow this got lost in #1012, sorry for that.
...and use `LoadStateFromFile` from `MapBuilderStub`. The `LoadState` stub
that's used in `Node::LoadState` streams the state file instead, which can now
be used by explicitly setting the `--upload_load_state_file` flag.
Solves problems with the gRPC message size limit when loading large state files.
The roslaunch API throws an exception if setting the argument but not using it.
This now forces any including launch files to provide an argument for it, even if it might not be used in the `no_rviz` case.
- 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`
googlecartographer/cartographer#1286 modified Submap::ToProto such that grids for unfinished submaps are no longer serialized. This commit fixes the breakage this introduced in the pbstream exporting binaries.
This is useful for tuning/debugging to rule out (simulated) time issues
(because published pose will then only depend on header times).
Another use case is when Cartographer runs on a separate machine
that has a different system clock than the sensors.
This adds a .clang-format file, so that git clang-format uses
Google style without the need to remember the commandline flag.
Similar to googlecartographer/cartographer#1249.
To compare different SLAM software online, it is necessary to
disable tf broadcast.
Because we already have a parameter "pose_publish_period_sec",
we use a zero value here to turn off tf broadcast.
This PR adds additional bookkeeping for trajectories that we scheduled for
finishing.
In Node::RunFinalOptimization(...), we were calling FinishTrajectory for
every active trajectory (state == ACTIVE). Since the state only gets updated
once the corresponding worker for the FinishTrajectory task is
scheduled, we were potentially calling FinishTrajectory twice for a
single trajectory id.
Reproducible on master e.g. with
```
roslaunch cartographer_ros offline_backpack_2d.launch bag_filenames:=b2-2016-02-02-14-01-56.bag no_rviz:=true
```
Matthias Loebach
Michael Grupp
Florent Revest
Alexander Belyaev
Alireza
Juraj Oršulić
Mikael Arguedas
Sebastian Klose
Christoph Schütte
gaschler
Wolfgang Hess
Kevin Daun