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Author SHA1 Message Date
Martin Schwörer 65b069c94f Extract assets writer class from static method (#827) 
Extracted class Assets_Writer from RunAssetsWriterPipeline. 

The idea is to increase the re-usability and flexibility of the assets_writer: In next PR, the assets_writer will allow registering external points_processers to the points processing pipeline. This requires having a class instead of a static method to allow for different states.
 2018-04-17 17:21:15 +02:00
Kevin Daun 1f55b18eb6 Enable rendering of submaps without a grid (#829) 
- related to https://github.com/googlecartographer/cartographer_ros/issues/819
 2018-04-17 15:13:44 +02:00
Martin Schwörer 08cf9f072c Assets writer refactoring (#814) 
The assets writing method was split into several calls to sub-routines.

RunAssetsWriterPipeline now calls sub-routines creating objects from files and then runs the pipeline using the created objects. This should increase readability of the method.
 2018-04-13 16:01:02 +02:00
gaschler b4e7705159 Correct localization_3d.launch (#824) 
Also, be consistent with 2D and with documentation.

ISSUE=https://github.com/googlecartographer/cartographer/issues/1056
 2018-04-12 13:28:28 +02:00
Michael Grupp 2b8a8b5d35 Update .travis.yml (#817) 
Describe the GITHUB_TOKEN trick to fork owners.
 2018-04-11 15:58:47 +02:00
Michael Grupp 9eeb3c9477 Add paragraph 'Odometry in Global Optimization' to tuning.rst (#802) 
Follow https://github.com/googlecartographer/cartographer/pull/1029
 2018-04-11 10:28:28 +02:00
jie 7689e6f186 Internal cleanup. (#818) 
Move the self header file after system header.
 2018-04-10 09:40:05 +02:00
Michael Grupp a375153a21 Take frozen state into account when finishing trajectories. (#811) 
Until now, the error response of an /finish_trajectory request for a
frozen trajectory was 'Trajectory ... is not created yet.'.

This is a lie. The new response is more accurate because the trajectory
__is__ created, but it just can't be finished because it's frozen.
 2018-04-09 18:59:34 +02:00
Michael Grupp c0a97d88a3 Fix race-condition when attempting to fetch trimmed submaps. (#812) 
A simple solution for a slightly more complex scenario:
- a pure localization trajectory `X` gets finished & trimmed in the main node
- at the same time, the occupancy_grid_node handles an outdated SubmapList
  message in which a submap ID `id` of trajectory `X` is still present
- the call to FetchSubmapTextures(`id`, ...) leads to a crash

With this fix, the trimmed submap IDs are just ignored until the next
iteration (in which the occupancy grid node removes the trimmed IDs).
 2018-04-09 17:30:21 +02:00
Martin Schwörer f818bc79d9 moved run method of assets writer main to separate files (#807) 
Moved the run method of the assets_writer_main to the separate assets_writer files.
Will extract asset_writer class in the future to keep the main file small and allow re-usability and more flexibility of the asset_writer.
 2018-04-06 16:48:21 +02:00
Michael Grupp d14d0e2b90 Check service status code in start_trajectory_main.cc (#808) 
Small patch to distinguish between communication and
runtime errors when calling the ROS service (as introduced by RFC 13).
 2018-04-05 22:10:22 +02:00
gaschler 4e0fbcb38b Check overlapping range data correctly (#804) 
FIXES=#771
 2018-04-05 19:26:06 +02:00
gaschler b3e3dfd7d4 Fix sequential subdivisions (#806) 
FIXES=https://github.com/googlecartographer/cartographer/issues/1026
 2018-04-05 12:18:16 +02:00
Michael Grupp 12816aacd3 Pass GitHub access token to Dockerfile. (#787) 2018-04-05 10:30:35 +02:00
gaschler f5c88ff32e Tool for comparing pure localization to offline optimization (#803) 
Adds a tool to measure the difference between a trajectory from a pbstream and one given by tf messages in a bag file, and a script to evaluate real-time pure localization poses compared to a globally optimized mapping poses.
 2018-04-04 17:18:31 +02:00
gaschler d50ad4f70c
Show constraints in rviz (#789) 2018-04-04 15:47:35 +02:00
gaschler e1774c82a9 Launch script to visualize pbstream in rviz (#788) 2018-03-29 15:28:25 +02:00
Kevin Daun 7d09140ee4 Add constraint-dependent trajectory visualization. (#756) 2018-03-26 16:45:58 +02:00
Juraj Oršulić 913142f9c7 Avoid failed CHECK when running offline node with no bags. (#777) 
Bug introduced in #680.
 2018-03-26 15:47:15 +02:00
gaschler 881fa76150
Ignore empty laser scan message. (#767) 
FIXES=#766
 2018-03-26 14:58:21 +02:00
Juraj Oršulić 8dc0352d43 Minor optimizations of cases with no subscribers (#755) 2018-03-06 15:42:15 +01:00
Juraj Oršulić b274743eb7 Add time skip option for offline node (#680) 
Introduces a "skip" option which skips first _t_ seconds.
 2018-03-05 20:33:57 +01:00
Alexander Belyaev 4746d5a734
Follow https://github.com/googlecartographer/cartographer/pull/958. (#754) 2018-03-05 13:42:00 +01:00
Christoph Schütte f5efe13c8a
Ensure cache invalidation when building CQ pipeline (#753) 2018-03-05 08:47:13 +01:00
Alexander Belyaev 319b60af4c
Follow https://github.com/googlecartographer/cartographer/pull/955. (#751) 2018-03-02 23:09:24 +01:00
Alexander Belyaev 61dd57bd94
Pass ROS landmark topic to the cartographer. (#746) 
[Landmark RFC](https://github.com/googlecartographer/rfcs/blob/master/text/0011-landmarks.md)
 2018-03-02 11:37:10 +01:00
Alexander Belyaev e583785720
Follow PR [#950](https://github.com/googlecartographer/cartographer/pull/950). (#750) 
[Internal hdrs RFC](https://github.com/googlecartographer/rfcs/blob/master/text/0003-internal-headers.md)
 2018-03-01 18:15:35 +01:00
Michael Grupp 15517addb1 Fix table formatting in data.rst (#748) 
Adds whitespace to make restructured text happy again.
 2018-03-01 11:21:01 +01:00
Michael Grupp 289e4314be Fix pbstream_map_publisher (follow #712) (#745) 
Applies the proto deserialization changes that
were introduced in PR #712.
 2018-02-28 16:36:50 +01:00
Christoph Schütte 24239beec8 s/LoadMap/LoadState in node_grpc_main.cc (#744) 2018-02-28 14:13:24 +01:00
Juraj Oršulić 22261553bb Offline multi-trajectory: use topic names without 'bag_n_' prefix by default (#707) 
This fixes offline_backpack_*.launch for multiple bags.
 2018-02-28 11:51:17 +01:00
Christoph Schütte ebbb1da8b0 Add Toru to CQ pipeline (#743) 2018-02-28 10:42:31 +01:00
Michael Grupp 7a36712405 Use CreateOccupancyGridMsg() in occupancy_grid_node_main.cc (#715) 
Follow-up of PR #711.
 2018-02-27 22:15:39 +01:00
Juraj Oršulić b7d8af834e Unfrozen trajectories (#710) 
Unfrozen trajectories
 2018-02-27 21:26:52 +01:00
Christoph Schütte 32542786a8
Add Jenkinsfile for Fetch and Backpack pipeline (#741) 
* Add Jenkinsfile for Fetch and Backpack pipeline
 2018-02-27 20:26:45 +01:00
Michael Grupp 185ba8b6da Add Magazino public datasets to data.rst (#738) 
* Add Magazino public datasets to data.rst
 2018-02-27 20:12:57 +01:00
Alexander Belyaev 463999873a
Add a ROS message for landmark observations. (#732) 
[Landmark RFC](https://github.com/googlecartographer/rfcs/blob/master/text/0011-landmarks.md)
 2018-02-27 18:14:39 +01:00
Christoph Schütte faa21f4234
Make ros_pkg configurable for Jenkins workers (#740) 
* Make ros_pkg configurable for Jenkins workers
 2018-02-27 15:00:59 +01:00
Christoph Schütte 58f463dc98
Add Fetch and Toru platform to Jenkins build (#739) 2018-02-27 14:21:34 +01:00
Alexander Belyaev 15bf0db270
Fix the path to mapping_*d includes. (#736) 
[Code structure RFC](https://github.com/googlecartographer/rfcs/blob/master/text/0016-code-structure.md)
 2018-02-26 21:11:09 +01:00
gaschler be592f55fa Validate tool checks per-point time stamps. (#737) 
Checks for per-point timing issues in a bag file.
Feature is tracked in #529.
 2018-02-26 18:16:59 +01:00
Michael Grupp 5251634d3d Add option to publish a pure 2D pose. (#683) 
If the new `publish_frame_projected_to_2d` option is set to true,
the published pose will be restricted to a pure 2D pose
(no roll, pitch, or z-offset).
This prevents potentially unwanted out-of-plane poses in 2D mode
that can occur due to the pose extrapolation step (e.g. if the pose
shall be published as a 'base-footprint'-like frame).
 2018-02-26 12:30:58 +01:00
Christoph Schütte caac1b3ae5
Follow googlecartographer/cartographer#922 (#734) 
* Follow  googlecartographer/cartographer#927
 2018-02-23 15:02:18 +01:00
gaschler fb947f5c7e Avoid auto for Eigen expressiongs. (#719) 
While harmless in most cases, auto can delay evaluation
of expressions in unexpected ways.
So it is better to avoid auto for Eigen expressions.
https://eigen.tuxfamily.org/dox/TopicPitfalls.html
 2018-02-19 14:40:13 +01:00
gaschler a2a587b3cb Update README.rst (#724) 2018-02-19 08:54:13 +01:00
Alexander Belyaev 7b9e2fe2e1
RViz settings for landmarks. (#717) 
[RFC=0011](https://github.com/googlecartographer/rfcs/blob/master/text/0011-landmarks.md)
 2018-02-12 09:55:24 +01:00
Alexander Belyaev c2b0143a5e
Publish Landmark markers for RViz. (#713) 
[RFC=0011](https://github.com/googlecartographer/rfcs/blob/master/text/0011-landmarks.md)
 2018-02-08 14:34:58 +01:00
Michael Grupp f5a7e2bb77 Add pbstream_map_publisher_main.cc (#711) 
Implements [RFC 06](https://github.com/googlecartographer/rfcs/blob/master/text/0006-serve-ros-map-from-pbstream.md)
 2018-02-07 19:48:18 +01:00
Christoph Schütte 5cd81be61e Follow googlecartographer/cartographer#859 (#712) 2018-02-07 16:24:20 +01:00
Michael Grupp 512a9cc358 Mention built-in evaluation tools in the tuning guide. (#705) 
Other changes:
- Moved the 'Verification' paragraph in the tuning guide up,
  as it fits better after the particular issue discussed before 'Special Cases'.
- Fixed 'WARNING: Title underline too short.' messages.
 2018-02-06 19:14:49 +01:00