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 )
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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 )
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Might fix #119 .
2016-10-19 18:27:23 +02:00
b8d9ac585e
Remove direct use of sensor::Collator. ( #132 )
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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 )
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Fixes #117 .
2016-10-19 17:33:41 +02:00
a3010b7611
Check for pcl_conversions library at configuration time. ( #131 )
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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 )
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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 )
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* Write XRays for 3D runs when finalizing a trajectory.
2016-10-14 17:02:09 +02:00
cfdab98cf3
Fix link to the ROS node source in the API documentation. ( #115 )
2016-10-14 13:55:49 +02:00
8d36c633b8
Updates use of LaserFan following cartographer. ( #114 )
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This follows changes from googlecartographer/cartographer#62 and
googlecartographer/cartographer#64 .
2016-10-14 12:41:00 +02:00
4557d9fd12
Use the simplified ToLaserFan3D function. ( #112 )
2016-10-13 15:31:47 +02:00
90872f3697
Update cMakeLists.txt. ( #111 )
2016-10-13 15:10:02 +02:00
0a76d10546
Moves SensorData struct into Cartographer. ( #110 )
2016-10-13 14:38:00 +02:00
bc3a4978f2
We do not use ZLIB anymore. ( #104 )
2016-10-13 12:31:28 +02:00
9ac88abcfc
Fix compile warnings and add a clarifying comment. ( #105 )
2016-10-13 11:44:19 +02:00
be7ce01463
Use Cartographer's cmake functions for ROS projects. ( #100 )
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- Move sources from <project>/src into project/project and fix includes.
- Add autogenerated CMakeFiles for ROS projects. The python script is
not yet fully updated to be used for keeping the files updated without
manual intervention though.
- Build everything with -fPIC, so we can create shared libraries.
2016-10-12 17:50:37 +02:00
0e8d219eef
Fix the IMU orientation in the 2D backpack URDF. ( #103 )
2016-10-12 17:27:17 +02:00
a6f89533c0
Configures intersphinx. ( #102 )
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* Refers back to Cartographer's system requirements.
2016-10-12 14:30:10 +02:00
e4f4b16e54
Adds documentation about the 2D backpack data. ( #99 )
2016-10-11 17:12:37 +02:00
7a70ef92a6
Improves documentation. ( #97 )
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* Adds system requirements to the documentation.
* References our mailing list.
2016-10-11 15:48:27 +02:00
61183d5dbc
Improve the 2D backpack URDF. ( #96 )
2016-10-11 15:12:23 +02:00
2631799820
Tiny formatting changes. ( #93 )
2016-10-11 09:54:40 +02:00
d4825af3d4
Moves sensor data transformation into SensorBridge. ( #88 )
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* Pulls out TfBridge.
* SensorBridge has its own options.
* SensorBridge is now responsible for transforming the sensor data into the tracking frame.
* Constant odometry covariance is no longer optional.
2016-10-10 16:15:17 +02:00
2a040bc755
Directly use Eigen representations of IMU data. ( #91 )
2016-10-10 13:29:37 +02:00
a02dfa084a
Renames SensorDataProducer to SensorBridge. ( #90 )
2016-10-10 10:58:27 +02:00
0c8d6afc33
Disable culling for submaps and reduce overdraw. ( #85 )
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We disable backface culling so that submaps also show when looked at from
below.
We add a depth bias to move submaps further to the back, so that submaps
do not overdraw the visualization of laser scans which makes the latter
sometimes hard to see.
2016-10-06 16:53:31 +02:00
1418902493
Do not republish unchanged scan matched point clouds. ( #84 )
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Before, republishing the point clouds at high frequency caused unnecessary
computational load.
This also fixes an issue seen in RViz:
After replaying a bag, point clouds with the same timestamp were continued to
be published. These were never dropped by the PointCloud2 display leading to
excessive memory consumption and bad visualization performance.
2016-10-06 15:11:17 +02:00
f4e89a070e
Small fixes. ( #83 )
2016-10-05 17:27:21 +02:00
407c7fb3d8
Fleshes out the ROS API documentation. ( #82 )
2016-10-05 16:33:50 +02:00
965d70fbee
Also write a YAML file for the final map. ( #81 )
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This allows the saved map to be served by map_server.
2016-10-05 15:30:25 +02:00
6fd405c78d
Add support for finishing and writing 2D maps. ( #80 )
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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
2128f32d87
Tunes the 3D backpack demo. ( #79 )
2016-10-04 16:01:46 +02:00
23366128b0
Small fixes to README. ( #78 )
2016-10-04 15:39:54 +02:00
e1aaf65ac3
Adds PR2 demo and script for dropping TF frames. ( #77 )
2016-09-30 15:09:31 +02:00
3a413028d9
Adds Revo LDS demo. ( #76 )
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* Adds Revo LDS demo.
2016-09-30 14:25:28 +02:00
ab381d5e6c
Adds 3D demo bag docs. ( #75 )
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* Improves consistency across documentation.
2016-09-30 11:25:43 +02:00
ccf77d55e2
Move the ScopedRosLogSink to a separate file. ( #74 )
2016-09-30 10:20:11 +02:00
d48034df46
Simplify OccupancyGrid publishing. ( #73 )
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The publish_occupancy_grid option is removed, and the publisher always
created in 2D. Only when subscribed to, we start computing OccupancyGrids.
Adds documentation for published topics where this is now documented.
2016-09-29 17:06:48 +02:00
0fda88b8d6
Move NodeOptions and OccupancyGrid building. ( #72 )
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Constructing NodeOptions and nav_msgs::OccupancyGrids
is moved out of the ROS node implementation file.
2016-09-29 15:45:24 +02:00
337607692a
Fixes wstool invocation to match wstool docs. ( #71 )
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* Simplifies CMake installation configuration.
2016-09-28 14:36:22 +02:00
0e15fb9a87
Quickly skip over data at the beginning. ( #70 )
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Sensor data that precedes the published tf transforms can likely never be
transformed, so it should be skipped without delay.
2016-09-27 16:39:25 +02:00
152e68cd1a
Adds documentation of the ROS integration options. ( #69 )
2016-09-27 12:09:57 +02:00
9103b846ff
Do not drop data when falling behind. ( #68 )
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Dropping data significantly harms quality of SLAM. This change means that
all data will be kept. If the system falls behind only for a short period
of time this is preferable. Publishing of the pose and submaps does not
work in this case and needs improvement.
2016-09-26 16:06:58 +02:00
Holger Rapp
Damon Kohler
Wolfgang Hess