test new changes to open3d slam #62
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mantelt
reviewed
Jun 17, 2024
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a switched the base branch. please resolve the conflict. |
mantelt
reviewed
Jun 18, 2024
mantelt
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Jun 21, 2024
* exploration running own global map * increase look ahead error margin and look ahead distance for pure pursuit controller * set joystick arg to false at default * make default state of use_sim_time to false instead of hard setting it * add use sim time option to localization.launch * add use_sim_time in smb_estimator_graph * Adding CMU navigation stack (PR #63) Squashed commit of the following: commit c55cccb Author: changan <chencha@student.ethz.ch> Date: Mon Jun 17 17:25:40 2024 +0200 deleted unused parameter, fix ros log param name commit 07a392d Author: changan <chencha@student.ethz.ch> Date: Mon Jun 17 16:28:33 2024 +0200 scenario for choosing parameter set as argument commit bb57d62 Author: changan <chencha@student.ethz.ch> Date: Mon Jun 17 16:04:33 2024 +0200 put twist from path follower under /nav namesapce commit 3fc1f53 Author: changan <chencha@student.ethz.ch> Date: Mon Jun 17 15:54:11 2024 +0200 remove gmapping from dependency, making without gmapping as default, working in sim commit a10cf44 Author: changan <chencha@student.ethz.ch> Date: Sun Jun 16 16:20:47 2024 +0200 pass world_frame to tare in launch commit d64bff5 Author: changan <chencha@student.ethz.ch> Date: Sat Jun 15 22:02:24 2024 +0200 rviz with local planner, far and tare commit c101145 Author: SMB264 <smb264@ethz.ch> Date: Mon Jun 3 10:33:08 2024 +0200 not launching rviz for tare commit 48360e9 Author: SMB264 <smb264@ethz.ch> Date: Mon Jun 3 10:32:34 2024 +0200 not building gbplanner for now commit 3467f93 Author: changan <chencha@student.ethz.ch> Date: Sat Jun 1 19:19:58 2024 +0200 included tare planner commit b43defd Author: changan <chencha@student.ethz.ch> Date: Sat Jun 1 18:06:20 2024 +0200 moved cmu adapter to smb_navigation commit d2f876d Author: changan <chencha@student.ethz.ch> Date: Sat Jun 1 14:56:43 2024 +0200 adapt to cmu topics commit 5b79852 Author: changan <chencha@student.ethz.ch> Date: Thu May 30 12:49:01 2024 +0200 added missing node in launch file commit f84043c Author: changan <chencha@student.ethz.ch> Date: Thu May 23 18:46:26 2024 +0200 fix missing offset resolution commit 1a39349 Author: changan <chencha@student.ethz.ch> Date: Thu May 23 18:24:15 2024 +0200 fix master map update commit 77cd5d6 Author: changan <chencha@student.ethz.ch> Date: Thu May 23 16:00:07 2024 +0200 interfacing lidar scan with exploration commit 8df3ea7 Author: changan <chencha@student.ethz.ch> Date: Wed May 1 20:09:16 2024 +0200 exploration running own global map * test new changes to open3d slam (#62) * first attempt to make new open3d available * update slam component in rviz * update launch files to support new open3d_updates * fix launch files * fix arg * fix path error * change rviz assembled_map name * update lidar odometry topic * fix launch file for localisation * fix launch files * add comment * update docstring for parameter_filename --------- Co-authored-by: tutuna <tutuna@leggedrobotics.com> Co-authored-by: Deepana Ishtaweera <dishtaweera@ethz.ch> * Improve Low-level controller (#64) * Added pid controller node for angular and linear velocity Controller to test Added feedforward changed to correct odom topic added reconfigurable EKF empty integrator fixed bug and added pure feedforward updated default PID values fixed pure feedforward * PR comments * twist and odom timeout mixed up * revert rviz default fixed frame to base_link * added navigation plugins as runtime dependencies * revert old changes * reduce lidar max range in sim * Update smb_robosense.gazebo.xacro for max_range 70 in sim * fix, controller stuck in feedforward (#69) * fix, controller stuck in feedforward * updated gains for sim * Update localization.launch removing argument for parameter_folder_path which causes open3d_slam to use default * Update online_slam.launch --------- Co-authored-by: changan <chencha@student.ethz.ch> Co-authored-by: Deepana Ishtaweera <dishtaweera@ethz.ch> Co-authored-by: Deepana Ishtaweera <dishtaweera@gmail.com> Co-authored-by: mantelt <thomas.mantel@mavt.ethz.ch> Co-authored-by: Deepana Ishtaweera <33963319+deepanaishtaweera@users.noreply.github.com> Co-authored-by: tutuna <tutuna@leggedrobotics.com> Co-authored-by: Per Frivik <94360401+PerFrivik@users.noreply.github.com> Co-authored-by: Deepana Ishtaweera <dishtaweera@student.ethz.ch> Co-authored-by: felix-ch <92451180+felix-ch@users.noreply.github.com>
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