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improve mapping #135

Merged
merged 7 commits into from
Feb 6, 2025
Merged

improve mapping #135

merged 7 commits into from
Feb 6, 2025

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muratams
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@muratams muratams commented Feb 6, 2025

This PR improves mapping for large environments (e.g. outdoor environment)

  • reduce computational load of rviz2 used in mapping
  • reduce computational/memory load of converting submaps to grid map
  • improve the demo mapping launch file for mapping with outdoor simulator

@muratams
update the rviz config used in mapping to reduce computational load t…
936d7cd 
…o visualize the occupancy grid map

Signed-off-by: Masayuki Murata <muratams@jp.ibm.com>
@muratams
add grid_publish_period_sec argument to the mapping launch file to ch…
1441e24 
…ange the frequency of submaps to map conversion

Signed-off-by: Masayuki Murata <muratams@jp.ibm.com>
@muratams
update the default parameters used to visualize the occupancy grid to…
18b35ae 
… reduce the computation cost

Signed-off-by: Masayuki Murata <muratams@jp.ibm.com>
@muratams
update the realtime mapping launch file to set --use-sim-time argumen…
6632762 
…t when simulator is used

Signed-off-by: Masayuki Murata <muratams@jp.ibm.com>
@muratams
add fix_status_threshold argument to a mapping launch file
29f453e 
Signed-off-by: Masayuki Murata <muratams@jp.ibm.com>
@muratams
add save_trajectory argument to a mapping launch file
8fa7f77 
Signed-off-by: Masayuki Murata <muratams@jp.ibm.com>
@muratams
add fix_overwrite_time argument to the mapping launch file for mappin…
429fcdd 
…g with incomplete data

Signed-off-by: Masayuki Murata <muratams@jp.ibm.com>
daisukes
daisukes approved these changes Feb 6, 2025
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@daisukes daisukes left a comment

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LGTM

@muratams muratams merged commit c67223c into main Feb 6, 2025
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@daisukes daisukes deleted the muratams/improve-mapping branch February 6, 2025 21:57
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@daisukes daisukes daisukes approved these changes

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@muratams @daisukes