Instead of drawing into a offscreen texture and blitting the
result as an overlay (which shows up on top of everything else)
we directly draw to the RViz scene. To get proper X-rays one
should use a 0.5 gray background for now.
Also fixes the configuration to enable 3D mapping from a bag.
Changes the pose publishing to always publish the odom to map transform.
Either expects or provides (configurable) the odom to tracking transform.
Also cleans up the RViz plugin code a bit.
* Add code to allow offline processing of 2D Cartographer bags.
Fixes waiting for transforms to be published, adds support for multi-echo
laser scans, sets default values for the submap topic and query for the
RViz plugin.
Wolfgang Hess
Damon Kohler
Damon Kohler