Map merging #5

ivonaj · 2018-09-25T04:21:51Z

Read karto mapper object, manipulate the position of each submap via interactive marker, according to the transformation performed on each submap, refresh associated pose graphs and merge them together

…data, add transform initialization

SteveMacenski · 2018-09-25T17:47:48Z

include/slam_toolbox/merge_maps_tool.hpp

+  karto::Dataset* dataset_;
  // TF
  tf::TransformBroadcaster* tfB_;
+  tf::TransformListener tf_;


I dont see anything that uses this, please remove

SteveMacenski · 2018-09-25T17:48:05Z

include/slam_toolbox/merge_maps_tool.hpp

  interactive_markers::InteractiveMarkerServer* interactive_server_;
  std::map<int, Eigen::Vector3d> submap_locations_;
+  std::vector<karto::LocalizedRangeScanVector> scans_vec;
+  std::map<int, tf::Transform> tf_map;


what is tf_map?

saves transform that should be applied to the original pose graphs to correct them according to the marker

please rename to something more immediately clear

SteveMacenski · 2018-09-25T17:48:45Z

src/merge_maps_tool.cpp

 /*****************************************************************************/
-MergeMapTool::MergeMapTool() : interactive_server_(NULL)
+MergeMapTool::MergeMapTool() : interactive_server_(NULL),
+                               tf_(ros::Duration(14400.))// 4 hours


4 hours is alot, though I dont think you need tf_ anymore

src/merge_maps_tool.cpp

SteveMacenski · 2018-09-25T17:50:01Z

src/merge_maps_tool.cpp

    resolution_ = 0.05;
  }
-
+  karto::LaserRangeFinder* laser =


Are the parameters on this correct? I think in slam_toolbox crease the laser and then change all the default parameters from the just karto-custom thing

Yes, true, this sets the default parameters that should be overwritten after obtaining a laser scan

karto::dataset is a separate class and isn't within the karto::mapper.I am working on serialization of that object as well to assign laser the correct custom data. Except for that change, this part is good to be merged :)

SteveMacenski · 2018-09-25T17:59:25Z

src/merge_maps_tool.cpp

+        bbox_min_tf.setRotation(tf::createQuaternionFromRPY(0, 0, 0));
+        tf::Transform bbox_min_tf_corr;
+        bbox_min_tf_corr = submap_correction*bbox_min_tf;//*
+        auto bbox_min_corr = karto::Vector2<kt_double>(bbox_min_tf_corr.getOrigin().x(),bbox_min_tf_corr.getOrigin().y());


remove all autos for correct type

SteveMacenski · 2018-09-25T18:02:58Z

src/merge_maps_tool.cpp

+        tf::Transform submap_correction = tf_map[id];
+
+        //TRANSFORM BARYCENTERR POSE
+        karto::Pose2 baryCenter_pose = pScan_copy->GetBarycenterPose();


SteveMacenski · 2018-09-25T18:03:36Z

src/merge_maps_tool.cpp

+        tf::Transform baryCenterPose_corr;
+        baryCenterPose_corr = submap_correction*baryCenter_pose_tf;//*
+
+        karto::Pose2 karto_baryCenterPose_corr = \


const karto::Pose2 karto_baryCenterPose_corr(args) use the constructor, you're incurring an extra copy. Please do for all instances below

SteveMacenski · 2018-09-25T18:05:03Z

src/merge_maps_tool.cpp

+
+         // TRANSFORM UNFILTERED POINTS USED
+        karto::PointVectorDouble UPR_vec = pScan_copy->GetPointReadings();
+        for(auto it_upr = UPR_vec.begin(); it_upr!=UPR_vec.end();it_upr++)


SteveMacenski · 2018-09-25T18:06:00Z

src/merge_maps_tool.cpp

+        pScan_copy->SetOdometricPose(karto_robotPose_odom);
+
+        transformed_scans.push_back(pScan_copy);
+


this entire chunk is way way too long. You need to break this out into multiple functions, its alot of the same boiler plate over and over again

SteveMacenski · 2018-09-26T21:55:50Z

include/slam_toolbox/merge_maps_tool.hpp

+    return karto::Pose2(pose_corr.getOrigin().x(), pose_corr.getOrigin().y(), tf::getYaw(pose_corr.getRotation()));
+  }
+
+  karto::Vector2<kt_double>ApplyCorrection(karto::Vector2<kt_double > pose, tf::Transform& submap_correction)


SteveMacenski · 2018-09-26T21:56:23Z

include/slam_toolbox/merge_maps_tool.hpp

+//
+//      return T(pose_corr.getOrigin().x(), pose_corr.getOrigin().y(), tf::getYaw(pose_corr.getRotation()));
+//  }
+  karto::Pose2 ApplyCorrection(karto::Pose2 pose, tf::Transform& submap_correction)


return reference and make all inputs references and const when appropriate in both

SteveMacenski · 2018-09-26T21:57:32Z

include/slam_toolbox/merge_maps_tool.hpp

+
+  karto::Vector2<kt_double>ApplyCorrection(karto::Vector2<kt_double > pose, tf::Transform& submap_correction)
+  {
+    tf::Transform pose_tf;


tf::Transform pose_tf, pose_cor;

SteveMacenski · 2018-09-26T22:00:24Z

include/slam_toolbox/merge_maps_tool.hpp

  interactive_markers::InteractiveMarkerServer* interactive_server_;
  std::map<int, Eigen::Vector3d> submap_locations_;
+  std::vector<karto::LocalizedRangeScanVector> scans_vec;
+  std::map<int, tf::Transform> submaps_correction_tf;


submaps_correction_tf -> submap_marker_transform_

Also add underscore to scans_vec_

SteveMacenski · 2018-09-26T22:02:41Z

src/merge_maps_tool.cpp

-  karto::LocalizedRangeScanVector scans = mapper->GetAllProcessedScans(); // TODO should I be saving a vect or of these mapper objects? / scans, A: YES
-
-  // num_submaps_++ and name frame appropriately
+  mapper_ = new karto::Mapper();


this shouldnt be a class variable -- delete pointer at end of function or when you're done with it

SteveMacenski · 2018-09-26T22:11:18Z

src/merge_maps_tool.cpp

  int_marker.pose.position.x = m.pose.position.x;
  int_marker.pose.position.y = m.pose.position.y;
-  int_marker.scale = 0.6;
+  int_marker.scale = 2;


SteveMacenski · 2018-09-26T22:11:57Z

src/merge_maps_tool.cpp

-  // publish it for visualization/map_saver using sstMS_[0]'s for meta and normal'
-
-  // later, take nodes in graph mutually closest to each other and scana match
+  // take nodes in graph mutually closest to each other and scan match


delete all these comments

SteveMacenski · 2018-09-26T22:13:58Z

src/merge_maps_tool.cpp

    mat.getRPY(roll, pitch, yaw);
+    tf::Vector3 old_submap_loc(submap_locations_[id](0),submap_locations_[id](1), 0.);
+    tf::Transform previous_submap_correction = submaps_correction_tf[id];
+    previous_submap_correction.setOrigin(old_submap_loc);


previous_submap_correction.setOrigin(tf::Vector3(submap_locations_id,submap_locations_id, 0.)));

src/merge_maps_tool.cpp

SteveMacenski · 2018-09-26T22:23:58Z

src/merge_maps_tool.cpp

+    tfB_->sendTransform(tf::StampedTransform (new_submap_location,
                       ros::Time::now(), "/map", "/map_"+std::to_string(id)));
+
+    submaps_correction_tf[id]*=previous_submap_correction.inverse()*new_submap_location;


write full line out

SteveMacenski · 2018-09-27T01:48:17Z

src/merge_maps_tool.cpp

  interactive_server_->insert(int_marker, \
           boost::bind(&MergeMapTool::ProcessInteractiveFeedback, this, _1));
  interactive_server_->applyChanges();
+  if (mapper)


No if, delete and then set to NULL like you should do with all pointers

SteveMacenski · 2018-09-27T01:48:35Z

src/merge_maps_tool.cpp

    karto::LocalizedRangeScan* pScan;
    karto::LocalizedRangeScanVector transformed_scans;
-    std::vector<karto::LocalizedRangeScanVector> vector_of_scans = scans_vec;
+    std::vector<karto::LocalizedRangeScanVector> vector_of_scans = scans_vec_;


Make this a reference

src/merge_maps_tool.cpp

SteveMacenski · 2018-09-27T01:49:23Z

src/merge_maps_tool.cpp


 /*****************************************************************************/
-void MergeMapTool::KartoToROSOccupancyGrid( \
+nav_msgs::GetMap::Response MergeMapTool::KartoToROSOccupancyGrid( \


return ref?

SteveMacenski · 2018-09-28T13:36:01Z

src/merge_maps_tool.cpp

  {
    ROS_INFO("MergeMapTool: Could not make Karto occupancy grid.");
-    return map;
+    return;


memory leak!

SteveMacenski · 2018-09-28T13:37:06Z

include/slam_toolbox/merge_maps_tool.hpp

  ~MergeMapTool();

 private:
+  typedef std::unique_ptr<karto::Pose2> Pose2_ptr;


why? these things are tiny they should never need to be dynamically allocated pointers

SteveMacenski · 2018-12-03T21:36:42Z

CMakeLists.txt

-add_executable(merge_maps_tool src/merge_maps_tool.cpp)
-add_dependencies(merge_maps_tool ${PROJECT_NAME}_generate_messages_cpp)
-target_link_libraries(merge_maps_tool ${catkin_LIBRARIES} ${Boost_LIBRARIES})
+add_executable(merge_maps_kinetic src/merge_maps_kinetic.cpp)


I think you mean "_kinematic" not "_kinetic"

SteveMacenski · 2018-12-03T21:38:54Z

CMakeLists.txt


-install(TARGETS slam_toolbox merge_maps_tool spa_solver_plugin g2O_solver_plugin ceres_solver_plugin SlamToolboxPlugin
+#### Merging maps optimizaiton
+add_executable(merge_maps_optimization src/merge_maps_optimization.cpp)


Please take out all your merge maps optimization work out of this PR unless its complete. Meta-PRs are impossible to review

SteveMacenski · 2018-12-03T21:39:49Z

config/mapper_params.yaml

 use_response_expansion: true
+
+#serialization params
+load_previous_mapper: true


I dont see anyone that uses this.... remove?

SteveMacenski · 2018-12-03T21:58:03Z

src/slam_toolbox.cpp

  scan_filter_->registerCallback(boost::bind(&SlamToolbox::LaserCallback, this, _1));
  marker_publisher_ = node.advertise<visualization_msgs::MarkerArray>("karto_graph_visualization",1);
  scan_publisher_ = node.advertise<sensor_msgs::LaserScan>("karto_scan_visualization",10);
+  ssSerialize_ = node.advertiseService("serialize_map", &SlamToolbox::SerializePoseGraphCallback, this);


line up characters

SteveMacenski · 2018-12-03T21:58:08Z

src/slam_toolbox.cpp

                                                               lasers_.begin();
  for (it; it!=lasers_.end(); ++it)
  {
+


SteveMacenski · 2018-12-03T21:58:28Z

src/slam_toolbox.cpp

                                             slam_toolbox::SerializePoseGraph::Response &resp)
 /*****************************************************************************/
 {
-  const std::string filename = req.filename + std::string(".st");


why did you remove the file ending?

SteveMacenski · 2018-12-03T21:58:37Z

src/slam_toolbox.cpp

  return true;
 }

+bool SlamToolbox::ReloadMapperCallback(slam_toolbox::AddSubmap::Request  &req, slam_toolbox::AddSubmap::Response &resp)


SteveMacenski · 2018-12-03T21:59:18Z

src/slam_toolbox.cpp

+      karto::SensorManager::GetInstance()->RegisterSensor(pSensor);
+      lasers_["base_laser_link"] = laser;
+    }
+


SteveMacenski · 2018-12-07T01:06:33Z

include/slam_toolbox/merge_maps_kinematic.hpp

+  void KartoToROSOccupancyGrid(const karto::LocalizedRangeScanVector& scans, nav_msgs::GetMap::Response& map);

-  inline bool FileExists(const std::string& name)
+  karto::Pose2 ApplyCorrection(const karto::Pose2& pose, const tf::Transform& submap_correction)


Why are these defined in the header?

because there are 2 for different data types so i thought it would be nicer to have them in the header, I can return them to the source file

^ plz move <3

SteveMacenski · 2018-12-07T01:06:56Z

include/slam_toolbox/merge_maps_kinematic.hpp

+    tf::Transform pose_tf, pose_corr;
+    pose_tf.setOrigin(tf::Vector3(pose.GetX(), pose.GetY(), 0.));
+    pose_tf.setRotation(tf::createQuaternionFromRPY(0, 0, pose.GetHeading()));
+    pose_corr = submap_correction*pose_tf;


add space between multiplication operator, here and in the function below

SteveMacenski · 2018-12-07T01:07:45Z

include/slam_toolbox/slam_toolbox.hpp

  // state
  bool IsPaused(const PausedApplication& app);

+  bool LoadMapperCallback(slam_toolbox::AddSubmap::Request  &req, slam_toolbox::AddSubmap::Response &resp);


Can you use another message type? rename the AddSubmap -> AddMap

SteveMacenski · 2018-12-07T01:09:00Z

mapping_plugin/slam_toolbox_rviz_plugin.cpp

-  _load_submap = nh.serviceClient<slam_toolbox::AddSubmap>("/merge_maps_tool/add_submap");
-  _merge = nh.serviceClient<slam_toolbox::MergeMaps>("/merge_maps_tool/merge_maps");
-  _serialize = nh.serviceClient<slam_toolbox::SerializePoseGraph>("/slam_toolbox/serialize_map");
+  _load_submap = nh.serviceClient<slam_toolbox::AddSubmap>("/add_submap");


These should be in the /map_merging namespace - probably to be shared amongst both the kinematic and optimization based approaches so they can be swapped in without changes

SteveMacenski · 2018-12-07T01:10:24Z

mapping_plugin/slam_toolbox_rviz_plugin.cpp

+  {
+    slam_toolbox::AddSubmap msg;
+    msg.request.filename = _line2->text().toStdString();
+    if (!_load_submap.call(msg))


rename _load_submap to _load_submap_for_merging

SteveMacenski · 2018-12-07T01:12:33Z

src/merge_maps_kinematic.cpp

+  KartoToROSOccupancyGrid(scans,map);
+
+  tf::Transform transform;
+  transform.setOrigin(tf::Vector3(map.map.info.origin.position.x + map.map.info.width * map.map.info.resolution / 2.0,\


line lengths

SteveMacenski · 2018-12-07T01:13:36Z

src/merge_maps_kinematic.cpp

+                                  map.map.info.origin.position.y + map.map.info.height * map.map.info.resolution / 2.0, 0.));
+  map.map.info.origin.position.x = - (map.map.info.width * map.map.info.resolution / 2.0);
+  map.map.info.origin.position.y = - (map.map.info.height * map.map.info.resolution / 2.0);
+  transform.setRotation(tf::createQuaternionFromRPY(0,0,0));


remove this line. Instead when you make the transform, use setIdentity(), then set the origin and delete this. You're doing quaternion math equivalent to (0,0,0,1)

SteveMacenski · 2018-12-07T01:15:30Z

src/merge_maps_kinematic.cpp

    mat.getRPY(roll, pitch, yaw);
+    tf::Transform previous_submap_correction ;
+    previous_submap_correction.setOrigin(tf::Vector3(submap_locations_[id](0),submap_locations_[id](1), 0.));
+    previous_submap_correction.setRotation(tf::createQuaternionFromRPY(0, 0, 0));


same thing here: setIdentity()

SteveMacenski · 2018-12-07T01:16:03Z

src/slam_toolbox.cpp

  nh_.setParam("paused_new_measurements", pause_new_measurements_);
  nh_.setParam("interactive_mode", interactive_mode_);

+


remove space

SteveMacenski · 2018-12-07T01:18:49Z

src/slam_toolbox.cpp

+  serialization::Read(filename, mapper, dataset);
+  std::map<karto::Name, std::vector<karto::Vertex<karto::LocalizedRangeScan>*>> mapper_vertices = mapper->GetGraph()->GetVertices();
+  std::map<karto::Name, std::vector<karto::Vertex<karto::LocalizedRangeScan>*>>::iterator vertices_it;
+  for(vertices_it = mapper_vertices.begin(); vertices_it!=mapper_vertices.end(); ++vertices_it)


You have vertices_it and vertex_it, that's pretty subtle, please rename

SteveMacenski

All just formatting 💯 🔢 🥇 we should be able to merge tomorrow!

Lets plan on showing me live demo and video tomorrow. After I'll fire it onto a robot in a store and we can do a rough demonstration of 1) continuing mapping from dock to dock (since we dont do any offsets between runs right now) 2) merging 2 submaps kinematically 3) rviz plugin isnt broken ;)

Next steps:

optimization merging
accepting an offset for poses relative to old map frame to start (on me)
deleting nodes logic (on me)

SteveMacenski · 2018-12-12T03:35:35Z

src/slam_toolbox.cpp

-  std::map<karto::Name, std::vector<karto::Vertex<karto::LocalizedRangeScan>*>>::iterator vertices_it;
-  for(vertices_it = mapper_vertices.begin(); vertices_it!=mapper_vertices.end(); ++vertices_it)
+  std::map<karto::Name, std::vector<karto::Vertex<karto::LocalizedRangeScan>*>>::iterator sensor_vertex_it;
+  for(sensor_vertex_it = mapper_vertices.begin(); sensor_vertex_it!=mapper_vertices.end(); ++sensor_vertex_it)


vertex_map_it & vertix_it

SteveMacenski · 2018-12-12T03:36:43Z

include/slam_toolbox/merge_maps_kinematic.hpp

+  void KartoToROSOccupancyGrid(const karto::LocalizedRangeScanVector& scans, nav_msgs::GetMap::Response& map);

-  inline bool FileExists(const std::string& name)
+  karto::Pose2 ApplyCorrection(const karto::Pose2& pose, const tf::Transform& submap_correction)


^ plz move <3

SteveMacenski · 2018-12-12T03:38:06Z

mapping_plugin/slam_toolbox_rviz_plugin.cpp


 /*****************************************************************************/
-void SlamToolboxPlugin::LoadPoseGraph()
+  void SlamToolboxPlugin::LoadMap()


remove extra spaces

SteveMacenski · 2018-12-12T03:38:40Z

mapping_plugin/slam_toolbox_rviz_plugin.cpp

-  if (!_load_submap.call(msg))
  {
-    ROS_WARN("Failed to load pose graph from file, is service running?");
+    slam_toolbox::AddSubmap msg;


This function and the next one look indented too much

SteveMacenski · 2018-12-12T03:40:16Z

src/merge_maps_kinematic.cpp

+    std::vector<karto::LocalizedRangeScanVector>& vector_of_scans = scans_vec_;
+    karto::LocalizedRangeScan* pScan_copy;
+
+    for(localized_range_scans_vec_it it_LRV = vector_of_scans.begin(); it_LRV!= vector_of_scans.end(); ++it_LRV)


line length

SteveMacenski · 2018-12-12T03:40:35Z

src/merge_maps_kinematic.cpp

+        pScan_copy->SetBarycenterPose(karto_baryCenterPose_corr);
+
+        //TRANSFORM BOUNDING BOX POSITIONS
+        karto::BoundingBox2 bbox = pScan_copy->GetBoundingBox();


This full function needs to respect the line lengths

SteveMacenski · 2018-12-12T03:40:56Z

src/slam_toolbox.cpp

  ros::NodeHandle private_nh("~");
  nh_ = private_nh;
  SetParams(private_nh);
+


SteveMacenski · 2018-12-12T03:41:11Z

src/slam_toolbox.cpp

@@ -1060,17 +1064,77 @@ void SlamToolbox::MoveNode(const int& id, const Eigen::Vector3d& pose, \
    mapper_->CorrectPoses();
  }
 }


add this space back between functions

* serialization + merging tool starts * second stab at serialization * reorg * serialization changes * serialization updates * Map merging (#5) * use binary archive for serialization, initialize laser to get sensor data, add transform initialization * connect visualization markers with submaps * try merging * add transforms * SAD SAD transforms * working transform * put submap origins in to zeros, map submap id and transform * fix case when there is no transform applied * submap markers put in the center of each submap, requested fixes * small changes * add typedefs for iterators, rename vars * requested fixes * fix * fix * again fix * refactor ApplyCorrection fcn * switch to unique pointers * add ref * prepare for merginggg * load laser dataset * add continuous slamming * add continuous slamming, gui buttons for rviz tool * add merge_map_kietic header * register sensor, add to laser map * fix * remove mem alloc, leak, rename buttons, functions * remove merge optimization work for PR * organize * unnecessary function input * fix naming * switch lines in rviz gui * lineup * change {sub}map names * fixes * fix service name * add service namespace, rename, change tf handling * fix * line lengths, renaming, header func fix * fix package version

…ality. (SteveMacenski#5) * Modified pause behavior. Added reset service * One last book keeping issue. Dont publish graph without subscribers * Add start/stop service

* Add graph edges to graph visualization marker. (SteveMacenski#502) * Clear markers for graph visualization to account for removed nodes. (SteveMacenski#503) * Publish PoseWithCovarianceStamped message with each scan match. (SteveMacenski#504) * Publish PoseWithCovarianceStamped message with each scan match. * Refactor code to return covariance as a output parameter instead of storing in the range scan object. * Linting fixes. * Publish pose with covariance in localization mode. (SteveMacenski#508) * Visualize localization nodes and edges with different colors in the pose graph marker message. (SteveMacenski#509) * Add map_and_localization node that supports toggling between mapping and localization modes with a service. (SteveMacenski#510) * Stop ceres problem from freeing loss function (SteveMacenski#519) (SteveMacenski#520) Co-authored-by: john-maidbot <78750993+john-maidbot@users.noreply.github.com> * Experimental changes. * Initial experiments (pose w cov stamped for each scan msg, better graph edge vis, tweak to continuous scan matching, etc) (SteveMacenski#2) * Add option to perform continuous scan matching to update the transform and pose even when the minimum travel distance or heading have not been reached for adding the scan into the map. * Add graph edges to graph visualization marker. (SteveMacenski#502) * Clear markers for graph visualization to account for removed nodes. (SteveMacenski#503) * Publish PoseWithCovarianceStamped message with each scan match. (SteveMacenski#504) * Publish PoseWithCovarianceStamped message with each scan match. * Refactor code to return covariance as a output parameter instead of storing in the range scan object. * Linting fixes. * Tweaks to parameter documentation. * Refactor scan match only logic to be based on a time interval. * Need to install async_pruned_slam_toolbox lib * Add localization status publisher (SteveMacenski#3) * Lint slam_toolbox_async_pruned.cpp * Change a lot of INFO prints related to pruning to DEBUG * Modified pause behavior. Added start/stop services and reset functionality. (SteveMacenski#5) * Modified pause behavior. Added reset service * One last book keeping issue. Dont publish graph without subscribers * Add start/stop service * Enable switching from mapping to localization mode (SteveMacenski#6) * Lidar qos is sensor data (best effort) (SteveMacenski#7) * Lidar qos is sensor data (best effort) * typo * Set initial slam pose via subscription (SteveMacenski#8) * Freeze map nodes when localizing + don't partition the graph when popping localization nodes + don't crash when resetting in localization mode (SteveMacenski#9) * Set non-localization nodes to constant * Forbid removing localization nodes if we don't have enough connections to the map graph * Fix crash on reset * unfreeze nodes when exiting localization mode * Don't freeze nodes that aren't part of the problem yet * Merge fixes. * Support resetting mapping pose. Co-authored-by: Marc Alban <marcalban@gmail.com> Co-authored-by: Marc Alban <marcalban@hatchbed.com> Co-authored-by: Justin Nguyen <justin@maidbot.com> Co-authored-by: Ketan Kharche <47426551+ketan-maidbot@users.noreply.github.com>

Updated slam_toolbox for Scott Hall

ivonaj added 8 commits August 30, 2018 13:57

use binary archive for serialization, initialize laser to get sensor …

cd099e2

…data, add transform initialization

connect visualization markers with submaps

5a40a57

try merging

4e10f23

add transforms

18aa3d8

SAD SAD transforms

4bc85ad

working transform

b417641

put submap origins in to zeros, map submap id and transform

6968d4c

fix case when there is no transform applied

c790171

SteveMacenski requested changes Sep 25, 2018

View reviewed changes

ivonaj added 3 commits September 26, 2018 00:47

submap markers put in the center of each submap, requested fixes

a45b840

small changes

fafb986

add typedefs for iterators, rename vars

6194d6b

SteveMacenski requested changes Sep 26, 2018

View reviewed changes

ivonaj added 2 commits September 26, 2018 18:20

requested fixes

fd5f1c8

fix

afe8f36

SteveMacenski requested changes Sep 27, 2018

View reviewed changes

ivonaj added 11 commits September 26, 2018 19:25

fix

49e8299

again fix

21c6ff7

refactor ApplyCorrection fcn

4ae2d3f

switch to unique pointers

200c73a

add ref

6a3dce6

prepare for merginggg

ef26cf7

load laser dataset

f77a194

add continuous slamming

3d183af

add continuous slamming, gui buttons for rviz tool

592fb23

add merge_map_kietic header

c845136

register sensor, add to laser map

e907a1f

SteveMacenski requested changes Dec 3, 2018

View reviewed changes

ivonaj added 2 commits December 5, 2018 19:43

fix

7151ae2

remove mem alloc, leak, rename buttons, functions

b2b6acb

ivonaj added 7 commits December 6, 2018 15:03

remove merge optimization work for PR

ff3c5e8

organize

4d4eab7

unnecessary function input

cb364e5

fix naming

a30a7e3

switch lines in rviz gui

6456fda

lineup

10b72d8

change {sub}map names

7a1adf4

SteveMacenski requested changes Dec 7, 2018

View reviewed changes

ivonaj added 4 commits December 6, 2018 19:43

fixes

97e0d86

fix service name

d593dd4

add service namespace, rename, change tf handling

815b4d5

fix

5da41e1

SteveMacenski requested changes Dec 12, 2018

View reviewed changes

line lengths, renaming, header func fix

3f46952

SteveMacenski approved these changes Dec 12, 2018

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SteveMacenski merged commit 44e425e into SteveMacenski:serialization Dec 12, 2018

27Apoorva mentioned this pull request Mar 9, 2020

Melodic localization mode crash pthread lock #180

Closed

jsongCMU pushed a commit to jsongCMU/slam_toolbox that referenced this pull request Oct 16, 2022

Merge pull request SteveMacenski#5 from MRSD-Team-RoboSAR/scott_hall

5781f22

Updated slam_toolbox for Scott Hall

asman100 mentioned this pull request Mar 28, 2025

Slam tool box crash with std::bad_alloc error when using a large map #765

Closed

		pScan_copy->SetOdometricPose(karto_robotPose_odom);

		transformed_scans.push_back(pScan_copy);

		nh_.setParam("paused_new_measurements", pause_new_measurements_);
		nh_.setParam("interactive_mode", interactive_mode_);

Map merging #5

Map merging #5

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ivonaj commented Sep 25, 2018

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