Add service to toggle in and out of localization mode. (ros2 branch) #512
Conversation
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
malban
changed the title
malban
changed the title
malban
force-pushed
the
localization-toggle-ros2
branch
from
283d752 to
4011ba2
Compare
Contributor
Author
|
Rebased and updated to publish covariance from #511 |
malban
force-pushed
the
localization-toggle-ros2
branch
from
4011ba2 to
9abd179
Compare
SteveMacenski
requested changes
Jul 18, 2022
include/slam_toolbox/experimental/slam_toolbox_map_and_localization.hpp
Outdated
Show resolved
Hide resolved
…and localization modes with a service.
malban
force-pushed
the
localization-toggle-ros2
branch
from
9abd179 to
66eef1b
Compare
SteveMacenski
approved these changes
Jul 19, 2022
SteveMacenski
pushed a commit
that referenced
this pull request
Aug 24, 2022
…and localization modes with a service. (#512)
SteveMacenski
added a commit
that referenced
this pull request
Aug 24, 2022
* Publish pose with covariance in localization mode. (#511) * Visualize localization nodes and edges with different colors in the pose graph marker message. (#513) * Fix edge marker id to not conflict with the localization edge marker. (#515) * Stop ceres problem from freeing loss function (#519) * Add map_and_localization node that supports toggling between mapping and localization modes with a service. (#512) * resolve API change from galactic (#524) * Fix segfault after loading posegraph (#527) * Assign mapper to closure_assistant after loading posgraph * Fix linting * Midigate spamming for 50Hz lidar (#526) * Increase scan filter queue_size * Add scan_queue_size as parameter Co-authored-by: Marc Alban <marcalban@hatchbed.com> Co-authored-by: john-maidbot <78750993+john-maidbot@users.noreply.github.com> Co-authored-by: Samuel Lindgren <samuel@dynorobotics.se>
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
2 participants
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Basic Info
Description of contribution in a few bullet points
See #510
Example use case would be to explore an area while building up a map in map mode and then switch to localization mode to perform tasks within that area.
Description of documentation updates required from your changes
Future work that may be required in bullet points