Remove async pruned node #521
Closed
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
…pport (#452) (#453) Co-authored-by: Ubuntu <[email protected]> Co-authored-by: John A Novak <[email protected]> Co-authored-by: Ubuntu <[email protected]>
* fix zero-stamped tf issue on node launch * Fix zero-stamped tf issue on node launch (#479) * fix zero-stamped tf issue on node relaunch * check if scan frame_id is empty before publishing map to odom tf
…ph edge vis, tweak to continuous scan matching, etc) (#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. (#502) * Clear markers for graph visualization to account for removed nodes. (#503) * Publish PoseWithCovarianceStamped message with each scan match. (#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.
…ality. (#5) * Modified pause behavior. Added reset service * One last book keeping issue. Dont publish graph without subscribers * Add start/stop service
* Lidar qos is sensor data (best effort) * typo
…ping localization nodes + don't crash when resetting in localization mode (#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
* Add graph edges to graph visualization marker. (#502) * Clear markers for graph visualization to account for removed nodes. (#503) * Publish PoseWithCovarianceStamped message with each scan match. (#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. (#508) * Visualize localization nodes and edges with different colors in the pose graph marker message. (#509) * Add map_and_localization node that supports toggling between mapping and localization modes with a service. (#510) * Stop ceres problem from freeing loss function (#519) (#520) Co-authored-by: john-maidbot <[email protected]> * Experimental changes. * Initial experiments (pose w cov stamped for each scan msg, better graph edge vis, tweak to continuous scan matching, etc) (#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. (#502) * Clear markers for graph visualization to account for removed nodes. (#503) * Publish PoseWithCovarianceStamped message with each scan match. (#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 (#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. (#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 (#6) * Lidar qos is sensor data (best effort) (#7) * Lidar qos is sensor data (best effort) * typo * Set initial slam pose via subscription (#8) * Freeze map nodes when localizing + don't partition the graph when popping localization nodes + don't crash when resetting in localization mode (#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 <[email protected]> Co-authored-by: Marc Alban <[email protected]> Co-authored-by: Justin Nguyen <[email protected]> Co-authored-by: Ketan Kharche <[email protected]>
Contributor
Author
|
if anyone sees this, I am so sorry. I hit the wrong button when creating my PR 🤦 |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
11 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
Description of documentation updates required from your changes
Future work that may be required in bullet points