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.
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.
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.
This adds two launch files for running 2D and 3D demos.
A bag filename is expected as an argument and is played
back using simulation time while showing the result in a
preconfigured RViz window.
Instead of drawing into a offscreen texture and blitting the
result as an overlay (which shows up on top of everything else)
we directly draw to the RViz scene. To get proper X-rays one
should use a 0.5 gray background for now.
Also fixes the configuration to enable 3D mapping from a bag.
Changes the pose publishing to always publish the odom to map transform.
Either expects or provides (configurable) the odom to tracking transform.
Also cleans up the RViz plugin code a bit.
* Add code to allow offline processing of 2D Cartographer bags.
Fixes waiting for transforms to be published, adds support for multi-echo
laser scans, sets default values for the submap topic and query for the
RViz plugin.
Christoph Schütte
Holger Rapp
Wolfgang Hess
Damon Kohler
Damon Kohler
Wolfgang Hess