Commit Graph

503 Commits (c12da5e8b39a0bd4f37edbbd8b65ad840b7b3c33)

Author SHA1 Message Date
Wolfgang Hess e0e3bdd625 Update the tuning guide following #604. (#606) 2017-11-17 15:46:54 +01:00
Holger Rapp 99c23b6ac7 Adds a binary that can generate PGM/YAML from a .pbstream. (#604) 2017-11-17 14:17:27 +01:00
Wolfgang Hess af17cf5a27 Follow googlecartographer/cartographer#686. (#605) 2017-11-17 13:03:43 +01:00
Holger Rapp 50be3d91a4 Pull out WritePgm and WriteYaml. (#603) 2017-11-17 09:36:34 +01:00
Holger Rapp 10eba093cc Refactor PGM writing to be more explicit. (#602) 2017-11-16 20:31:06 +01:00
Holger Rapp 7259bb0baf Refactoring towards a pbstream -> PGM/YAML tool. (#601) 2017-11-16 19:44:12 +01:00
Juraj Oršulić fd52ddf45b Use LocalSlamResultCallback for trajectory states (#594)
Replaces #556.
Use `LocalSlamResultCallback` googlecartographer/cartographer#574 instead of `PoseEstimate`.
2017-11-16 18:05:05 +01:00
Holger Rapp a10dea9c11 Follow cartographer. (#600)
Follow googlecartographer/cartographer#684.
2017-11-16 16:47:21 +01:00
Wolfgang Hess f241a679a9 Update the tuning guide following #598. (#599) 2017-11-16 15:12:53 +01:00
Wolfgang Hess d2bb8b3d01 Follow googlecartographer/cartographer#682. (#598)
[RFC=0001](https://github.com/googlecartographer/rfcs/blob/master/text/0001-renaming-sparse-pose-graph.md)
2017-11-16 12:36:23 +01:00
Juraj Oršulić e6060567b0 Use node_handle.resolveName in start_trajectory_main. (#597)
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
Wolfgang Hess a3df182d7e Follow googlecartographer/cartographer#680. (#596)
[RFC=0001](https://github.com/googlecartographer/rfcs/blob/master/text/0001-renaming-sparse-pose-graph.md)
2017-11-15 15:52:44 +01:00
Wolfgang Hess 6b68522fcc Follow googlecartographer/cartographer#677. (#595)
[RFC=0001](https://github.com/googlecartographer/rfcs/blob/master/text/0001-renaming-sparse-pose-graph.md)
2017-11-15 12:57:50 +01:00
Wolfgang Hess 7931d1e53c Follow googlecartographer/cartographer#574. (#593) 2017-11-14 18:32:27 +01:00
Michael Grupp b56903c1bb Do not include trimmed submaps into the occupancy grid (#591)
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
Jihoon Lee 9fb2b09a0b Unify finish trajectory logic (#552)
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
Christoph Schütte 3e684b298b Add proto3 installation to jenkins Dockerfile. (#590)
[RFC=0000](https://github.com/googlecartographer/rfcs/blob/master/text/0000-proto3-transition.md)
2017-11-13 18:52:10 +01:00
Christoph Schütte 5210e92533 Add proto3 install scripts to Dockerfiles and update docs. (#589) 2017-11-13 10:48:00 +01:00
Juraj Oršulić 53b9306d6e Remove io component of PCL. (#588)
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
Juraj Oršulić ef57b43323 Revert "Fix PCL linking issue in Zesty (#396)" (#574)
This reverts commit 125aee3011.

This got fixed upstream, so perception_pcl (8b32dcd078) did remove this hack too.
2017-11-10 14:38:31 +01:00
Jihoon Lee d0697e6847 Follow googlecartographer/cartographer#599 (#561)
Use submap_painter. Merge this after googlecartographer/cartographer#599.
2017-11-10 13:27:27 +01:00
Rodrigo Queiro ae6aefaf97 Don't `set -o verbose` in ros_entrypoint.sh (#558)
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
Wolfgang Hess 7540dfa674
Increase 3D global localization score threshold. (#587)
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
Juraj Oršulić 67030b1ad3 Use start_trajectory_node topic remappings for the new trajectory. (#584) 2017-11-08 17:29:33 +01:00
Holger Rapp ff92e9e4bd
Follow googlecartographer/cartographer#637. (#583)
Use c++ standard types instead of the values from port.h.
2017-11-08 10:37:02 +01:00
Christoph Schütte e63126f329
Add ground truth stats to quality control pipeline. (#578) 2017-11-07 20:30:54 +01:00
Wolfgang Hess 1b8869bbf6
Unbreak the demo documentation. (#581) 2017-11-07 16:43:26 +01:00
Wolfgang Hess bf187d9059 Add 3D localization demo. (#580)
Adds configuration files and launch files for 3D backpack pure
localization.

Moves most demos to a separate documentation page.
2017-11-07 15:29:11 +01:00
Christoph Schütte f6a8903a40
Garbage collect scratch dir left-overs. (#573) 2017-11-06 13:21:35 +01:00
gaschler b665fbd6d2 Follow googlecartographer/cartographer#616. (#569) 2017-11-03 13:34:53 +01:00
Juraj Oršulić e2f018d311 Fix debug build. (#570) 2017-11-03 10:56:06 +01:00
Holger Rapp 7403d82fbb Added intensities to one more bag and added one new data set. (#554) 2017-11-02 16:30:39 +01:00
Wolfgang Hess e604529537
Update Ceres Solver to 1.13.0. (#564)
This is expected to improve the performance when solving the
global SLAM optimization problem.
2017-11-02 11:14:50 +01:00
Christoph Schütte 5408cf52c7
Fix bug in extract_last_occurence (#568) 2017-11-02 10:20:18 +01:00
Christoph Schütte c945bb360a
Changes in BQ client API and constraints stats. (#566) 2017-11-02 09:26:35 +01:00
Christoph Schütte 8895bfc96a
Adds a worker script for running quality control jobs. (#562) 2017-10-30 16:24:12 +01:00
Christoph Schütte ea3e7397ac Fix bug in jenkins-slave (#560) 2017-10-27 14:35:33 +02:00
Christoph Schütte b0f9bae145 Adds Dockerfiles for CQ pipeline (#559) 2017-10-27 13:27:50 +02:00
Christoph Schütte b1184b1054 Add launch and lua files for quality evaluation pipelines. (#555) 2017-10-27 09:39:49 +02:00
gaschler cf8e79559f Follow TimedPointCloud. (#549)
Follows googlecartographer/cartographer#601. (#573)
2017-10-24 13:39:54 +02:00
Holger Rapp 137c75633f Adds a PointsProcessor that can write ROS maps. (#548)
Fixes #475.
2017-10-23 10:40:43 +02:00
Wolfgang Hess 5d784e8adb Prepare for googlecartographer/cartographer#605. (#551) 2017-10-19 16:58:07 +02:00
Christoph Schütte adbaeb4fe6 Follow googlecartographer/cartographer#603. (#550) 2017-10-19 15:39:23 +02:00
Wolfgang Hess b9dbfc6664 Follow googlecartographer/cartographer#597. (#547) 2017-10-17 16:55:33 +02:00
Wolfgang Hess 0a66c59547 Follow googlecartographer/cartographer#596. (#546) 2017-10-17 15:35:52 +02:00
Jihoon Lee 4c54a545a1 Visualize gaps in trajectories due to trimming. (#500) 2017-10-17 14:16:26 +02:00
Holger Rapp 6b22cfaf8d Fix a crash, since subdivisions can be empty. (#543) 2017-10-17 13:12:24 +02:00
Wolfgang Hess 38f1c4dc14 Follow googlecartographer/cartographer#591. (#542) 2017-10-17 11:00:31 +02:00
Holger Rapp fe28d33d38 Adds a dump_timing flag. (#541)
Moves #529 forward.
2017-10-16 14:23:56 +02:00
Holger Rapp 5b06f03558 Adds a rosbag_validate binary. (#536)
So far it creates statistics over timing information of the sensor data that Cartographer cares about. It also reports if time jumps backwards for a sensor.
Also updates the GitHub issue template to ask users to run this binary when reporting issues.

I verified that this tool is sufficient to analyze all the timing related issues mentioned in #529.
2017-10-13 17:26:50 +02:00