35bea72536
Adding conversion from WGS84 to ECEF. ( #660 )
...
This converts from latitude, longitude, altitude
to a cartesian coordinate frame.
[RFC=0007](https://github.com/googlecartographer/rfcs/blob/master/text/0007-nav-sat-support.md )
2018-01-11 11:38:14 +01:00
d10abbf588
Follow googlecartographer/cartographer#801 ( #657 )
2018-01-10 19:39:33 +01:00
31655ba1cb
Add rviz and simtime to gRPC launch file. ( #658 )
2018-01-10 17:44:13 +01:00
02ed0153d1
Tuning guide for low latency and localization ( #653 )
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Related to #397
2018-01-10 14:43:50 +01:00
7a7b210c94
Fix bug in MapBuilderBridge::GetTrajectoryStates() ( #652 )
2018-01-08 18:52:27 +01:00
4a1366501d
Use GetTrajectoryNodePoses and GetAllSubmapPoses in GetConstraintList ( #651 )
2018-01-08 17:07:39 +01:00
a6095979aa
Make MapBuilderBridge use GetAllTrajectoryNodePoses() ( #649 )
2018-01-08 11:10:14 +01:00
dd00ede58a
Change link ordering to fix libcartographer_rviz.so. ( #648 )
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This fixes the issue that rviz crashes when loading the cartographer_rviz plugin saying that the symbol `cartographer::io::UnpackTextureData(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int, int)` is undefined.
PAIR=@wohe,@SirVer
2018-01-05 18:06:30 +01:00
d34a2e36b8
Make MapBuilderBridge::GetSubmapList() use GetAllSubmapPoses() ( #647 )
2018-01-05 15:10:52 +01:00
acc2143ff7
Implement offline gRPC bridge. ( #645 )
2018-01-05 11:35:42 +01:00
a6949c8544
Fix path for gRPC server shell script in CMakeLists.txt ( #644 )
2018-01-04 16:08:51 +01:00
d32c8b9d91
Refactor offline_node_main.cc to prepare for offline bridge. ( #643 )
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[RFC=0002](https://github.com/googlecartographer/rfcs/blob/master/text/0002-cloud-based-mapping-1.md )
2018-01-04 15:31:40 +01:00
d43c07d940
Follow googlecartographer/cartographer#782 ( #633 )
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Towards [RFC06](https://github.com/googlecartographer/rfcs/blob/master/text/0006-serve-ros-map-from-pbstream.md ).
Migrates
* `FillSubmapSlice` from `pbstream_to_rosmap_main.cc`
* `SubmapTexture` logics from cartographer_ros
2018-01-04 13:53:15 +01:00
30d23b9f56
Launch grpc client and server ( #641 )
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Adds a launch file to test the entire grpc bridge.
Here is an example to run:
```
catkin_make_isolated --use-ninja -DBUILD_GRPC=True
source devel_isolated/setup.bash
roslaunch cartographer_ros grpc_demo_backpack_2d.launch bag_filename:=${HOME}/Downloads/cartographer_paper_deutsches_museum.bag
```
The bash script is a work-around to run an executable outside of the catkin packages.
2018-01-04 09:58:52 +01:00
bf697c2d14
Implement cartographer_grpc_node. ( #632 )
2018-01-03 15:12:12 +01:00
abe4d10de3
Add BUILD_GRPC CMake flag and ROS-gRPC binary. ( #631 )
2017-12-20 12:32:40 +01:00
0eab6a150e
HandleRangefinder time refers to newest point. ( #612 )
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This is necessary so that sensor::Collator queues range data
after previous odometry and IMU data, and LocalTrajectoryBuilder
will be able to unwarp each point.
2017-12-13 14:53:31 +01:00
88609432f8
Follow googlecartographer/cartographer#736 ( #620 )
2017-12-08 13:09:15 +01:00
7bcdda4d37
Detect duplicate range data. ( #619 )
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Checks that range data in a bag file changes between frames, which is one of the common mistakes listed in #529 .
2017-12-06 15:58:57 +01:00
465e0434a1
Fix 0. constant to 0.0 to comply with YAML standard ( #618 )
2017-12-06 10:53:31 +01:00
718dee5c2c
Validate IMU, odometry, timing, frame names. ( #615 )
2017-12-05 00:42:12 +01:00
4dac7c3ebe
Follow googlecartographer/cartographer/pull/724. ( #616 )
2017-12-04 23:32:34 +01:00
e1f65f3104
Add initial_pose in start_trajectory_main.cc Fixes #579 ( #610 )
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Fixes #579
Related to googlecartographer/cartographer#606
@damienrg @cschuet I followed most of the comments in googlecartographer/cartographer#642 except timestamp. Receiving timestamp sounds weird to me because trajectory should not start in past timestamp or future timestamp.
2017-11-24 16:45:11 +01:00
42d82cbdfd
Prepare 0.3.0 release ( #609 )
2017-11-23 10:50:04 +01:00
e0e3bdd625
Update the tuning guide following #604 . ( #606 )
2017-11-17 15:46:54 +01:00
99c23b6ac7
Adds a binary that can generate PGM/YAML from a .pbstream. ( #604 )
2017-11-17 14:17:27 +01:00
af17cf5a27
Follow googlecartographer/cartographer#686. ( #605 )
2017-11-17 13:03:43 +01:00
50be3d91a4
Pull out WritePgm and WriteYaml. ( #603 )
2017-11-17 09:36:34 +01:00
10eba093cc
Refactor PGM writing to be more explicit. ( #602 )
2017-11-16 20:31:06 +01:00
7259bb0baf
Refactoring towards a pbstream -> PGM/YAML tool. ( #601 )
2017-11-16 19:44:12 +01:00
fd52ddf45b
Use LocalSlamResultCallback for trajectory states ( #594 )
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Replaces #556 .
Use `LocalSlamResultCallback` googlecartographer/cartographer#574 instead of `PoseEstimate`.
2017-11-16 18:05:05 +01:00
a10dea9c11
Follow cartographer. ( #600 )
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Follow googlecartographer/cartographer#684 .
2017-11-16 16:47:21 +01:00
f241a679a9
Update the tuning guide following #598 . ( #599 )
2017-11-16 15:12:53 +01:00
d2bb8b3d01
Follow googlecartographer/cartographer#682. ( #598 )
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[RFC=0001](https://github.com/googlecartographer/rfcs/blob/master/text/0001-renaming-sparse-pose-graph.md )
2017-11-16 12:36:23 +01:00
e6060567b0
Use node_handle.resolveName in start_trajectory_main. ( #597 )
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As discussed in #584 . The two functions behave completely identical for our purposes, so renaming for consistency with the rest of cartographer_ros.
2017-11-16 11:09:07 +01:00
a3df182d7e
Follow googlecartographer/cartographer#680. ( #596 )
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[RFC=0001](https://github.com/googlecartographer/rfcs/blob/master/text/0001-renaming-sparse-pose-graph.md )
2017-11-15 15:52:44 +01:00
6b68522fcc
Follow googlecartographer/cartographer#677. ( #595 )
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[RFC=0001](https://github.com/googlecartographer/rfcs/blob/master/text/0001-renaming-sparse-pose-graph.md )
2017-11-15 12:57:50 +01:00
7931d1e53c
Follow googlecartographer/cartographer#574. ( #593 )
2017-11-14 18:32:27 +01:00
b56903c1bb
Do not include trimmed submaps into the occupancy grid ( #591 )
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Derive submap IDs that don't appear in the submap list anymore and delete the corresponding slices from our state before drawing.
2017-11-14 14:49:19 +01:00
9fb2b09a0b
Unify finish trajectory logic ( #552 )
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Port active trajectory checks and subscriber shutdown logic into FinishTrajectory(), so that a trajectory can be cleanly finished by function call.
2017-11-14 11:30:39 +01:00
3e684b298b
Add proto3 installation to jenkins Dockerfile. ( #590 )
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[RFC=0000](https://github.com/googlecartographer/rfcs/blob/master/text/0000-proto3-transition.md )
2017-11-13 18:52:10 +01:00
5210e92533
Add proto3 install scripts to Dockerfiles and update docs. ( #589 )
2017-11-13 10:48:00 +01:00
53b9306d6e
Remove io component of PCL. ( #588 )
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The `io` component of PCL brings in VTK, which in turn creates a lot of CMake pollution (such as bringing in Qt, which is completely unnecessary for `cartographer_ros`).
2017-11-13 09:28:29 +01:00
ef57b43323
Revert "Fix PCL linking issue in Zesty ( #396 )" ( #574 )
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This reverts commit 125aee30118b32dcd078
2017-11-10 14:38:31 +01:00
d0697e6847
Follow googlecartographer/cartographer#599 ( #561 )
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Use submap_painter. Merge this after googlecartographer/cartographer#599 .
2017-11-10 13:27:27 +01:00
ae6aefaf97
Don't `set -o verbose` in ros_entrypoint.sh ( #558 )
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All it does is source some large scripts, which results in lots of
logspam when the container starts up. It then runs exec, after which the
`verbose` setting has no effect.
2017-11-09 13:36:40 +01:00
7540dfa674
Increase 3D global localization score threshold. ( #587 )
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With googlecartographer/cartographer#640 submitted,
global localization in 3D seems to behave as expected,
so there is no longer a need for a low minimum score.
We increase the minimum score to be slightly above the
minimum score used in the same trajectory. This is to
reduce the amount of outliers which are worse in this
case. This change also moves it into the backpack_3d.lua
file since it should also apply to multi-trajectory SLAM.
2017-11-09 12:28:33 +01:00
67030b1ad3
Use start_trajectory_node topic remappings for the new trajectory. ( #584 )
2017-11-08 17:29:33 +01:00
ff92e9e4bd
Follow googlecartographer/cartographer#637. ( #583 )
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Use c++ standard types instead of the values from port.h.
2017-11-08 10:37:02 +01:00
e63126f329
Add ground truth stats to quality control pipeline. ( #578 )
2017-11-07 20:30:54 +01:00
Susanne Pielawa
Christoph Schütte
gaschler
Jihoon Lee
Wolfgang Hess
Holger Rapp
Juraj Oršulić
Michael Grupp
Rodrigo Queiro