a125822a0e
Follow googlecartographer/cartographer#338. ( #378 )
2017-06-14 15:52:10 +02:00
8140946a34
Track googlecartographer/cartographer#333. ( #373 )
2017-06-12 18:06:29 +02:00
5ffe91f19c
Add trajectory colors. ( #363 )
...
Generates colors for different trajectories using a scheme which
ensures even hue distribution, uniform look and high contrast
between consecutive trajectories.
2017-06-12 16:36:30 +02:00
2b1300e1a3
Follow googlecartographer/cartographer_ros#330 ( #374 )
2017-06-12 16:06:21 +02:00
8d8cc09f80
Follow googlecartographer/cartographer#326. ( #370 )
2017-06-10 10:41:39 +02:00
6658cffa20
Fix rviz trajectory rendering crash ( #367 )
...
Rviz has a limit of 16384 points per marker. To get around this, each
trajectory is split into multiple markers, each up to 16384 points.
Fixes #366 .
2017-06-09 12:39:04 +02:00
51fe6fa021
Fix missing ID handling related to starting trajectory ( #369 )
2017-06-09 10:23:00 +02:00
ed6ddbe121
Serialize the pose graph instead of just the trajectory. ( #365 )
...
This is related to googlecartographer/cartographer#310
and googlecartographer/cartographer#253 .
2017-06-08 18:15:55 +02:00
30f6f80508
Fix include guards. ( #364 )
2017-06-08 14:27:49 +02:00
07806f1152
Trajectory visualization ( #360 )
...
Based on code originally by @domeinzer.
2017-06-08 13:55:15 +02:00
73da0aa124
Better tuning for Revo LDS demo. ( #362 )
2017-06-06 14:08:45 +02:00
2441fb5854
Added error handling on start trajectory service ( #358 )
...
- Changed logging to using glog.
2017-06-02 13:03:45 +02:00
9d5b221ed4
Enable multi-trajectory on ROS node ( #346 )
2017-05-31 11:21:24 +02:00
cd1276a99c
Add an assets pipeline demo for 3D. ( #352 )
2017-05-24 15:27:52 +02:00
90381f7f2a
Figured out how to symbolically refer to PointCloud2 datatypes. ( #348 )
2017-05-19 17:23:09 +02:00
b9ad9bb4b8
Remove unnecessary if. ( #347 )
2017-05-19 12:16:14 +02:00
eb804c1182
First unstable development release ( #344 )
2017-05-18 14:28:38 +02:00
8b239ded86
Do not use tf_buffer for keeping all transforms in memory. ( #342 )
...
PAIR=wohe
2017-05-17 15:45:18 +02:00
4cd812d806
Track googlecartographer/cartographer#290. ( #340 )
...
PAIR=wohe
2017-05-16 15:07:31 +02:00
227e46c285
Fix broken test. ( #339 )
2017-05-16 14:14:01 +02:00
8c56b44bdd
Follow googlecartographer/cartographer#288. ( #338 )
2017-05-16 11:40:06 +02:00
d624b1c250
Track changes in Cartographer. ( #331 )
...
googlecartographer/cartographer#268 changes the API.
PAIR=wohe
2017-05-09 16:06:04 +02:00
f6fc7ac6b2
Added reading intensity values from point clouds ( #321 )
2017-05-09 10:26:05 +02:00
5294050f51
ConstantData is now owned by the SPG. ( #326 )
2017-05-08 18:05:02 +02:00
b6fa20c9d5
Track Cartographer changes. ( #329 )
...
Change googlecartographer/cartographer#248 introduced a separation
between MapBuilder and TrajectoryOptions. The ROS repositiories require
changes to track this modification.
2017-05-08 15:07:14 +02:00
e4de18cc65
Follow googlecartographer/cartographer#259. ( #324 )
2017-05-04 16:20:45 +02:00
6b147dd445
Remove dependency on proto::LaserScan. ( #323 )
...
Also change the CMakeLists.txt to run all tests found by the glob.
2017-05-03 15:20:21 +02:00
1514f71b30
Track Cartographer API. ( #320 )
2017-05-03 11:56:37 +02:00
a44527ea7c
Add better logging for missing IMU data. ( #311 )
2017-04-24 11:40:26 +02:00
23798c9ef8
Follow changes in googlecartographer/cartographer#235. ( #309 )
2017-04-21 15:38:36 +02:00
1babc6982a
Correct for googlecartographer/cartographer#227. ( #303 )
...
Correct for googlecartographer/cartographer#227 .
2017-04-19 16:24:13 +02:00
8b3af77fde
Follow Cartographer API. ( #286 )
...
Rename LaserFan to RangeData.
2017-03-23 16:07:38 +01:00
2dd30a853b
Follow Cartographer API. ( #283 )
...
'laser_fan_3d' is renamed 'range_data_3d'.
2017-03-22 13:47:49 +01:00
d5710fe291
Offline node improvements ( #266 )
...
* Unify signatures of ReadTransformsFromBag and ReadStaticTransformsFromUrdf. Both functions append data into the buffer, so they can be combined.
* Modifies offline_node and assets_writer to optionally use both the .urdf file and bag transform data, if available (use case: fixed joint descriptions of the robot are in the .urdf, while the odometry-base link transforms are read from the bag); the static transforms are added to the buffer after it has been filled with transforms from the bag (if any).
* offline_node optionally publishes all transforms from the bag (checking if any are in conflict with Cartographer is still TODO; however, this should be the responsibility of the bag provider, just like when using the online node, so it should be OK to leave this unimplemented) and all static transforms from the URDF.
2017-02-21 09:44:19 +01:00
02044fc86a
Enable adding as a CMake subproject ( #262 )
...
Add support for building libcartographer in the same project
Support adding as a CMake subproject by using the PROJECT_*_DIR variables
instead of the absolute CMAKE_*_DIR variables.
Resolve a signed-unsigned comparison compiler warning
Fix comment typo
2017-02-09 15:58:35 +01:00
f7057fc5a3
Fix configuration checks during start up. ( #258 )
...
We now destroy the LuaParameterDictionary directly after
constructing the NodeOptions, so that it is verified
whether all mentioned parameters are understood.
Before, this was checked when shutting down the node.
2017-01-25 13:54:35 +01:00
2a2286deb0
Assets pipeline demo and track Cartographer API ( #253 )
...
Adds a more complete assets_writer_backpack_2d.lua including many
comments.
2017-01-24 15:57:37 +01:00
0783398634
Follow Cartographer API. ( #250 )
2017-01-17 13:54:33 +01:00
e6e3730dde
Use imported targets. ( #246 )
2017-01-09 14:22:20 +01:00
6d61394c3c
Small cleanups. ( #241 )
2016-12-22 14:53:24 +01:00
c86d5e48f5
Add support for making assets out of LaserScan and MultiEchoLaserScan. ( #235 )
2016-12-21 11:39:01 +01:00
58069b0033
Remove use of google_library and google_test. ( #234 )
...
* Fixes Dockerfile.indigo copying.
2016-12-20 16:20:27 +01:00
0b4fa3d5b1
Fix the offline 3D backpack launch file. ( #233 )
2016-12-19 16:27:32 +01:00
7551d770dc
Fix crash on Ctrl+C in the offline node. ( #230 )
2016-12-19 13:38:18 +01:00
81f93f3e92
Add additional 3D backpack data. ( #228 )
2016-12-13 16:44:55 +01:00
47c6422a70
Unbreak cartographer_turtlebot and cartographer_toyota_hsr. ( #225 )
...
FindThreads.cmake (e.g. of trusty) is used which adds the
"-lpthead" dependency that is added to cartographer's
dependencies. Catkin then fails to resolve this in the
cartographer_rosConfig.cmake file it generates to be used
by all dependencies of cartographer_ros.
This means for now, users of cartographer_ros also have to
directly depend on cartographer.
2016-12-12 14:24:03 +01:00
fe936b67b1
Adds Kinetic to build matrix. ( #222 )
2016-12-09 15:24:06 +01:00
5bf1f9c8ff
Install offline node and disable duplicate logging. ( #220 )
...
We already show the ROS log on the console.
2016-12-08 14:44:29 +01:00
794ca96b92
Fix offline node. ( #219 )
...
Flips topic remapping to match online node and checks that topics are
wired to unique sensor inputs.
Fixes broken launch files.
2016-12-08 11:15:02 +01:00
a09a2a3ee3
Adds offline node launch files for backpacks. ( #217 )
2016-12-07 14:14:11 +01:00
2803b7bb49
Include what you use. ( #214 )
2016-12-06 16:23:33 +01:00
cff972ddf2
Optionally read /tf from bag in place of a URDF. ( #213 )
2016-12-06 08:36:08 +01:00
c3a319cabf
Cleanups and preparation for handling /tf topic. ( #206 )
2016-12-01 11:45:25 +01:00
42440452b6
Adds multi-trajectory support to offline mapping. ( #204 )
2016-11-30 16:48:03 +01:00
78c14d50d2
Cleanup. ( #203 )
2016-11-30 16:15:43 +01:00
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
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
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
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
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
094e319d4a
Cartographer API changes. ( #146 )
2016-10-26 09:18:01 +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
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
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
caa77c8588
Removes templating on data type. ( #122 )
2016-10-17 16:39:29 +02:00
d1707853af
Moves SensorCollator into sensor package. ( #113 )
2016-10-17 10:58:18 +02:00
53df586f69
Write XRays for 3D runs when finalizing a trajectory. ( #116 )
...
* Write XRays for 3D runs when finalizing a trajectory.
2016-10-14 17:02:09 +02:00
8d36c633b8
Updates use of LaserFan following cartographer. ( #114 )
...
This follows changes from googlecartographer/cartographer#62 and
googlecartographer/cartographer#64 .
2016-10-14 12:41:00 +02:00
Wolfgang Hess
Holger Rapp
Juraj Oršulić
Akiyoshi Ochiai
Yutaka Takaoka
Damon Kohler
Jeremie Papon
Mac Mason
Atsushi Watanabe
Thiago de Freitas
Stefan Kohlbrecher
Damon Kohler