The 'slice_pose' must be updated together with the texture. Right
now it is updated before the texture so the submap will be shown
in the wrong pose for a short time.
The fix is to move the handling of poses over to Ogre:
The 'scene_node_' now transforms both the shown submap and the axes
into the submap frame. The 'submap_node_' applies the 'slice_pose'
so that the textured rectangle is shown in the correct pose in
the submap frame.
- simplify code around toggling submap visibility
- pass DisplayContext to DrawableSubmap
- add parent scene node for both submap and axes
- remove unnecessary const
Fixes#405.
- Add a variable list object to the submaps plugin, containing visibility
checkboxes for individual submaps. Each DrawableSubmap creates and
manages its visibility property checkbox object. Submaps are hidden by
detaching the Ogre manual object from the Ogre scene node.
- Fetch if the submap version number is different, possibly lower
(meaning Cartographer was restarted)
- Among the lines added in #150, the one that fixes building with Qt5 is
the following line:
include_directories(${Qt5Widgets_INCLUDE_DIRS})
The rest is redundant and actually doesn't do anything. A CMake
variable named QtX_INCLUDE_DIRS is not defined when find_package()-ing
Qt. Also, there is no need to find_package() Qt5 Widgets twice.
- In documentation, add sudo to rosdep init invocation, following
http://wiki.ros.org/rosdep. Add a comment about the error which will
be printed if the user has already run sudo rosdep init since
installing ROS.
* Change mutex locker scope in SubmapsDisplay::update()
This avoids the potential unsafe situation where someone (for example,
SubmapsDisplay::Reset()) clears the trajectories vector, but update()
uses it after the mutex has been released, since the scope of the lock
was only in the try block.
Also resolve a miscellaneous signed-unsigned warning.
* Make DrawableSubmap destructor safer
Make the DrawableSubmap destructor wait for the asynchronous fetch
thread to finish - otherwise, it's possible to crash rviz by rapidly
pressing the enable checkbox of the submaps plugin. Eventually the race
condition will be triggered, and the fetch thread will write into a
deleted DrawableSubmap object, which causes a crash.
Add support for building libcartographer in the same project
Support adding as a CMake subproject by using the PROJECT_*_DIR variables
instead of the absolute CMAKE_*_DIR variables.
Resolve a signed-unsigned comparison compiler warning
Fix comment typo
- 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.
We disable backface culling so that submaps also show when looked at from
below.
We add a depth bias to move submaps further to the back, so that submaps
do not overdraw the visualization of laser scans which makes the latter
sometimes hard to see.
Wolfgang Hess
Juraj Oršulić
Holger Rapp
Damon Kohler
Thiago de Freitas
Damon Kohler