Support initial pose on ROS-wrapper side #29
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Have you checked the behavior? |
ymd-stella
requested changes
Jun 18, 2021
I've used Gazebo verification on AWS small warehouse world with TurtleBot3 ingegrated with it and Realsense r200 RGB-D camera simulation. This worked, but due to lack of feature points, it gave me in the best scenario only one-keyframed map. That was not enough for full robot movement, so I've added some debug prints how the coordinate are being converted, and that relocalization by pose (on this one keyframe) worked well or not worked in case of far position. |
ymd-stella
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Jun 23, 2021
ymd-stella
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Jul 14, 2021
* Support initial pose * Apply clang-format * Fix comments * Meet review suggestions * Simplify conversion statements
ymd-stella
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Jul 14, 2021
* Add .github/workflows/main.yml * [Backport] Adding map->camera_link tf (#9) * adding map->odom tf * adding ft map->camera_link * updating files to fix frame transfomation * initializing the parameters * adding mutex; setting camera_link_ once * checking tracking status * updating with ros2 branch * updating w ros2 branch * adding the TF after branch update * applying clang-format-6.0 * [Backport] Update .github/workflows/main.yml * [Backport] Update CI workflow (Add tf publisher) * [Backport] Refactoring openvslam_ros - Simplify redundant processes. - Use message stamps * [Backport] Fix missing dependencies * [Backport] Publishing tf timestamp in the future (#23) * publishing pose's timestamp in the future * changing tf timestamp * removing unnecessary changes * [Backport] Update Dockerfile b95ee0f * [Backport] Add Dockerfile.socket * [Backport] Fix docker src path * [Backport] Fix map frame transformation (#27) * Fix map frame transformation * Rename from cv_to_ros to rot_ros_to_cv_map_frame * [Backport] Add topics/parameters list * [Backport] Filter nan in depth image * [Backport] Filter nan only for CV_32FC1 * [Backport] Support initial pose on ROS-wrapper side (#29) * Support initial pose * Apply clang-format * Fix comments * Meet review suggestions * Simplify conversion statements * [Backport] Use fbow * [Backport] Move CI workflows to github actions (#34) * Update .github/workflows * Remove wercker.yml * Remove DBoW from docker image for CI
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Initialpose topic support for OpenVSLAM ROS-wrapper