Add graph edges to graph visualization marker.#502
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SteveMacenski merged 1 commit intoSteveMacenski:galacticfrom Jun 21, 2022
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Add graph edges to graph visualization marker.#502SteveMacenski merged 1 commit intoSteveMacenski:galacticfrom
SteveMacenski merged 1 commit intoSteveMacenski:galacticfrom
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…ph 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.
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…ph 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.
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Basic Info
Description of contribution in a few bullet points
Add graph edges to graph visualization marker.
For example:
Edit:
I didn't realize this was already implemented for noetic, but looking at it now. I think this implementation is a bit more simple and efficient.
Description of documentation updates required from your changes
No documentation updates required.
Future work that may be required in bullet points
Sequential vs loop closure edges could be distinguished in the future by color.