Plan A: Extend mapping graph if we detect a mapping/localization graph cut #533
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…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]>
* mute karto serialization logs * Mute mapper serialization * Dont serialize when slam is not running * Fix bookkeeping edge case
* fix deadlock * something is wrong... * Fix
* Fix build issue * Fix typo
* Progress * Update * Remove log
* Fix map_ bookkeeping * Fix use of updateMap function
* Comment out interactive mode deps * Comment out more interactive code * fix param api change * Another param api fix * Fully remove interactive mode * Missed one * Missed one
* First pass * Use Dijkstra's to find loop closure size * Use set instead of map * handle not connected case * Add easy win + fix typo * Update * Add total pose check * Comment out shortest path calc * Drop thresholds * Cleanup * Cleanup * typo * Remove change * Remove change * Remove change * Fix log * Add context * Use average heading change
…#421) * Added Service response structure for save map and serialize Posegraph * Updated Segmentation_fault to Undefined_failure condition * Updated result of serialize service * Updated code according to the project's style guide Co-authored-by: SumontreeP <[email protected]>
* Warnings for parameter declararion and including header files are addressd * Adressing build warnings
Signed-off-by: zouyonghao <[email protected]>
Signed-off-by: Michel Hidalgo <[email protected]>
* support rolling on jammy Signed-off-by: wep21 <[email protected]> * remove backward support Signed-off-by: wep21 <[email protected]> * change upper and lower case letters for SuiteSparse library Signed-off-by: wep21 <[email protected]>
Co-authored-by: Kehan Xue <[email protected]>
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