If the output of cartographer should be used as an input to an additional sensor fusion method,
using the published TF transform is inconvenient or in our specific use case even harmful
because we don't want to add the raw cartographer output to our TF tree.
With this change it becomes optional to broadcast to /tf.
Morever there is an option to publish the tracked frame pose as a PoseStamped message.
We add two new optional parameters:
- `publish_to_tf` if false no tf transform is broadcasted
- `publish_tracked_pose` If set `true` a PoseStamped representing the position of the
tracked pose w.r.t. map frame is published.
If default launchers and settings are used this PR causes no change in the behavior.
Fixes broken links, code blocks and other things that
`sphinx-build docs/source docs/out -E` complained about.
Signed-off-by: Michael Grupp <grupp@magazino.eu>
* Fix build status on front page.
Changes "googlecartographer" to "cartographer-project"
for references to CI and GitHub.
Following cartographer-project/cartographer#1693.
Signed-off-by: Wolfgang Hess <whess@lyft.com>
* Remove Indigo and Lunar Dockerfiles.
I have added a few lines to the doc to alert users to remove ros abseil-cpp and also to change the rosinstall file if they wish to checkout a different version of cartographer. As discussed in #1208
This restructures the doc as a tutorial leading newcomers to becoming experimented users.
It adds pages on:
- how to get started with Cartographer on a new .bag
- how Cartographer works and can be tuned step-by-step
- how to use "extra" features of Cartographer
- how to contribute to Cartographer
It also provides some cosmethic changes with: new titles, non-indented code blocks, various illustrations, reworked paragraphs for clarity...
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.
This will allow us to keep way less information in memory for SLAMing and fixes crashes related to multi trajectory (e.g. this fixes#413).
It also means that to get to an X-Ray or a map, users need to run the asset writer now after SLAMing, which is inconvenient.
Remove dependency on YAML and delete more dead code.
- 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.
Jonathan Huber
Michael Grupp
Wolfgang Hess
Geonhee
mgladkova
Ashwath Narayan Murali
fprott
Esteve Fernandez
Florent Revest
Alexander Belyaev
Alireza
Dave Coleman
Alexander Reimann
Juraj Oršulić
Holger Rapp
gaschler
Wolfgang Hess
Christoph Schütte
Damon Kohler
Yutaka Takaoka