Clear markers for graph visualization to account for removed nodes. #503
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SteveMacenski
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Jun 21, 2022
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malban
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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.
malban
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Jul 19, 2022
…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
When removing nodes from the graph, as in the experimental lifetime mode, rviz will keep displaying the removed nodes until the display is toggled because it's not getting any updates telling it to remove the node from the visualization.
The change adds a DELETE_ALL maker to the front of the marker array message to clear any existing markers, which resolves the issue.
Description of documentation updates required from your changes
No documentation updates required.
Future work that may be required in bullet points
NA