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.
Before, republishing the point clouds at high frequency caused unnecessary
computational load.
This also fixes an issue seen in RViz:
After replaying a bag, point clouds with the same timestamp were continued to
be published. These were never dropped by the PointCloud2 display leading to
excessive memory consumption and bad visualization performance.
When receiving a FinishTrajectory call, the Cartographer nodes catches up on
computing loop closures, runs a final optimization, and when in 2D writes out
a PGM map similar to map_saver.
The publish_occupancy_grid option is removed, and the publisher always
created in 2D. Only when subscribed to, we start computing OccupancyGrids.
Adds documentation for published topics where this is now documented.
Dropping data significantly harms quality of SLAM. This change means that
all data will be kept. If the system falls behind only for a short period
of time this is preferable. Publishing of the pose and submaps does not
work in this case and needs improvement.
This changes the URDF and timeout for the TurtleBot configuration,
and adds a Dockerfile with everything that is needed to run 2D SLAM
with a depth camera. Verified to work on a TurtleBot 2 with an
ASUS Xtion.
And tiny style fixes.
Fixes configuration files to work with the latest code changes.
Also removes the remapping from turtlebot.launch which does not
seem to be useful so far.
Adds an option publish_occupancy_grid (disabled by default) which continuously
computes and publishes OccupancyGrid in a background thread. Only the 2D case is
currently supported.
And small code style and typo fixes.
Adds an 'expect_odometry_data' option to the configuration. When enabled,
listens to the '/odom' topic, which must provide odometry that is taken
into account for SLAM.
Also renames the 'provide_odom' option to 'provide_odom_frame'.
Configuration of Cartographer's ROS integration is now
entirely handled by Lua. The path and basename of the
configuration are given by command line flags.
The node is listening to default topic names which are
expected to be remapped as needed.
Wolfgang Hess
Damon Kohler
Holger Rapp
Wolfgang Hess
Stefan Kohlbrecher
Damon Kohler
Rohan Agrawal