946c979a71
Adds offline SLAM; build maps as fast as possible. ( #201 )
2016-11-30 15:09:31 +01:00
c57075f67d
Injects tf buffer into Node. ( #200 )
2016-11-30 11:04:54 +01:00
6260c53107
Pulls out reading from URDF file to tf buffer. ( #199 )
2016-11-29 15:19:58 +01:00
141bf26dbb
Pulls out sensor data wiring into main. ( #198 )
2016-11-29 13:28:11 +01:00
102fb4ef4e
Pulls out TrajectoryState into MapBuilderBridge. ( #197 )
2016-11-29 11:10:52 +01:00
33271f0290
Moves TfBridge into SensorBridge. ( #195 )
2016-11-28 14:50:04 +01:00
0d1e248f5f
Support multiple simultaneous trajectories. ( #194 )
2016-11-28 12:52:34 +01:00
43c4bacde3
Add additional 3D backpack data. ( #191 )
2016-11-28 10:58:36 +01:00
94fc589141
Pulls out node.h/cc ( #189 )
2016-11-25 14:49:42 +01:00
d5652c6985
Add documentation about some 3D backpack data. ( #188 )
2016-11-25 14:30:57 +01:00
012beb5c0c
Pulls out GetOccupancyGrid to MapBuilderBridge. ( #187 )
2016-11-25 14:13:04 +01:00
500b83ff0d
Partially pulls out MapBuilderBridge. ( #186 )
2016-11-25 12:35:22 +01:00
516c86fa5a
Improve parameter names. ( #185 )
2016-11-25 11:31:57 +01:00
e5b63e377a
Fix trajectory start/stop bug and some cleanups. ( #184 )
2016-11-25 09:37:11 +01:00
4f6f0dc684
Simplify configuration. ( #183 )
...
Logging loop closure matches is now the default.
2016-11-23 12:38:03 +01:00
5b433db279
Depend on Ceres 1.12.0rc4 directly. ( #182 )
2016-11-22 17:03:04 +01:00
479694963c
Improves parameter names and fixes #40 . ( #181 )
2016-11-22 15:39:35 +01:00
ca5b7d1bff
New Cartographer API, removes SensorBridgeOptions. ( #180 )
2016-11-21 13:12:05 +01:00
d09c33e8f8
New Cartographer API. ( #178 )
2016-11-21 10:56:50 +01:00
797ee08c5b
Fixes Catkin CMake for building libraries. ( #177 )
2016-11-18 09:33:52 +01:00
31d5787544
Track Cartographer API. ( #175 )
2016-11-17 18:28:27 +01:00
d0343919b3
Fix crashing bug on node termination. ( #173 )
2016-11-17 17:02:27 +01:00
965490f611
Adds configuration files test. ( #172 )
2016-11-17 12:41:02 +01:00
12ea8386bb
Updates CMake. ( #171 )
2016-11-17 11:49:59 +01:00
5046bc02cc
Adapt to new Cartographer API. ( #169 )
...
And write by-floor X-Rays in the asset writer.
2016-11-17 02:17:52 -08:00
2ec6001f96
New Cartographer API. ( #157 )
2016-11-15 14:47:45 +01:00
22d8573bd0
Fixes urdfdom_headers version compatibility ( #162 )
...
Urdf changed their shared ptr type from boost to std. This PR detects which version of urdf is installed and uses the correct ptr type.
2016-11-08 00:21:34 -08:00
e8b5dd6465
Use FindSphinx.cmake from the Cartographer installation. ( #156 )
2016-10-28 16:10:20 +02:00
d0edcb5f95
Use function to convert submap pose to ROS message. ( #153 )
2016-10-27 18:00:18 +02:00
76212e1c79
Simplify SubmapToProto use. ( #152 )
2016-10-27 17:00:33 +02:00
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
7d95852192
Set INCLUDE_DIRS in catking_package ( #147 )
2016-10-26 17:46:46 +02:00
de53d1f7f6
Fix build with Qt5. ( #150 )
...
- Include Qt5 include directories into search path. Fixes #138 .
- Supersedes and fixes #124 .
2016-10-26 14:47:57 +02:00
f100950244
Improve publishing of poses. ( #149 )
...
When a new scan matched point cloud is published, its timestamp is used for
publishing corresponding transforms. Further transforms are stamped with
::ros::Time::now().
If configured to publish odom, the two published transforms are combined into
one tf message.
2016-10-26 13:31:51 +02:00
ec2d54ef84
Sets stamped_transform timestamp to ros::Time::now() ( #143 )
2016-10-26 12:40:19 +02:00
5f5762f458
Adds Willow Garage data set. ( #148 )
2016-10-26 10:32:25 +02:00
094e319d4a
Cartographer API changes. ( #146 )
2016-10-26 09:18:01 +02:00
26e956678f
Fix Docker build caching. ( #145 )
2016-10-25 15:41:00 +02:00
92678fa4fd
Adds a binary that runs over trajectory and data to create assets of all point data. ( #142 )
2016-10-25 14:47:42 +02:00
6dd217beab
Improve Docker caching. ( #139 )
2016-10-23 18:16:12 +02:00
20487028ed
Adds Docker caching to Travis build. ( #137 )
2016-10-21 12:37:59 +02:00
16f192aeb9
Write the trajectory on exporting. ( #134 )
...
And some refactorings around writing assets.
2016-10-20 14:09:05 +02:00
af78dcbe55
Fix constness of Submaps to match the new API. ( #136 )
2016-10-20 12:01:56 +02:00
7f7933f26d
Manually require Qt5Widgets library if we use Qt5. ( #133 )
...
Might fix #119 .
2016-10-19 18:27:23 +02:00
b8d9ac585e
Remove direct use of sensor::Collator. ( #132 )
...
Collating the sensor data is now handled by the MapBuilder.
2016-10-19 17:55:20 +02:00
e4abb77835
Use pkg-config to find yaml-cpp. ( #130 )
...
Fixes #117 .
2016-10-19 17:33:41 +02:00
a3010b7611
Check for pcl_conversions library at configuration time. ( #131 )
...
Fixes #118 .
2016-10-19 17:10:22 +02:00
0289ece55d
Unify to AddLaserFan for both 2D and 3D. ( #129 )
2016-10-19 15:25:19 +02:00
ccbf9ef1be
Adapt to changes in cartographer and write PLY files on exporting. ( #128 )
...
Also use reflectivity in the 'PointsBatch'es created in 'WriteAssets'.
In the online case, we throw away reflectivities during SLAMing to save
on memory, so there will be none.
2016-10-19 15:02:34 +02:00
b63611b2c3
Updated to work with new APIs. ( #125 )
2016-10-18 18:04:46 +02:00
Damon Kohler
Wolfgang Hess
Holger Rapp
Atsushi Watanabe
Thiago de Freitas
Stefan Kohlbrecher
Damon Kohler