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.
- 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.
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.
gaschler
Holger Rapp
Wolfgang Hess
Yutaka Takaoka
Damon Kohler