Publish PoseWithCovarianceStamped message with each scan match.#504
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SteveMacenski merged 3 commits intoSteveMacenski:galacticfrom Jun 22, 2022
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SteveMacenski
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Jun 21, 2022
…toring in the range scan object.
SteveMacenski
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Jun 22, 2022
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Otherwise LGTM |
SteveMacenski
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Jun 22, 2022
SteveMacenski
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Jun 22, 2022
* 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.
SteveMacenski
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Jun 22, 2022
* 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.
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.
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.
lucyannofrota
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Jun 16, 2023
Publish PoseWithCovarianceStamped message with each scan match. (SteveMacenski#504) Co-authored-by: Lucyanno Frota <lucyannofrota@gmail.com>
r2avula
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Jul 20, 2023
…eMacenski#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.
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Basic Info
Description of contribution in a few bullet points
Publish a PoseWithCovarianceStamped message with each scan match so that slam_toolbox can be more easily integrated with a downstream filter such as robot_localization.
posetopicposition_covariance_scaleyaw_covariance_scaleExample results:
Description of documentation updates required from your changes
README updated
Future work that may be required in bullet points