Renames OgreSubmap to OgreSlice in preparation for that a
DrawableSubmap should hold multiple OgreSlices, so multiple
types of slices for one submap can be visualized.
This changes the Ros api that multiple textures will be returned,
which are forwarded from the Ros service call.
Adapts all usages to follow this new api.
Since these contain timing information, we can use the SLAM trajectory
to compensate for ego motion (unwarp) and the TF messages and URDF to
compensate for sensor-to-tracking motion.
This improves quality greatly.
Handle the protobuf change from
googlecartographer/cartographer#519
by forwarding the first SubmapTexture if multiple are available.
* Nit.
* Check.
* Nit.
The offline node will now only write the pbstream with the results if the
node finished processing without being interrupted. Partial results are
no longer written.
This also adds logging so that it is clear whether output was written.
This moves adding IMU data to the extrapolator to
Node::HandleImuMessage() so that in the offline node extrapolation
for tf publishing can benefit from IMU data.
Fixes crash in offline node by setting the trajectories as active
as they are added.
The checks in ValidateTrajectoryOptions() are both obsolete. Instead
we now just check that the correct trajectory builder options exist
at all.
Also checks options in Node::StartTrajectoryWithDefaultTopics() now.
This adds trajectories at the Node object. It makes sure all
necessary extrapolators exist. Before the offline node would crash
when extrapolating.
Also deduplicates the logic to compute the topics for a trajectory.
Adds a 'map_node_' which gets updated with the transform to RViz's
fixed frame. Before, submaps rendered incorrectly if a fixed frame
different from the map frame was chosen.
Removes the map frame property since this data is published on the
submap list topic.
Renames node names to reflect the frames they represent.
It can happen that ros::Time::now() is slightly behind the latest pose
timestamp if sensor data had newer timestamps. We would crash before.
Instead, we now publish the latest pose which is even newer that what
we tried to publish before.
The 'slice_pose' must be updated together with the texture. Right
now it is updated before the texture so the submap will be shown
in the wrong pose for a short time.
The fix is to move the handling of poses over to Ogre:
The 'scene_node_' now transforms both the shown submap and the axes
into the submap frame. The 'submap_node_' applies the 'slice_pose'
so that the textured rectangle is shown in the correct pose in
the submap frame.
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.
Holger Rapp
gaschler
Wolfgang Hess
Jihoon Lee
Damon Kohler
Juraj Oršulić
Christoph Schütte
Yutaka Takaoka
Mikael Arguedas
damienrg