Fixing ROS launch system #8
Merged
Conversation
This file contains 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
tizianoGuadagnino
requested review from
nachovizzo and
benemer
as code owners
benemer
approved these changes
Oct 16, 2024
tizianoGuadagnino
added a commit
that referenced
this pull request
Oct 16, 2024
* We didnt have proper flagging in the online node * Clean launch common args * Fix formatting python
benemer
added a commit
that referenced
this pull request
Nov 19, 2024
* We didnt have proper flagging in the online node * Clean launch common args * Add new threshold * Update CMakeLists.txt (#7) Make *USE_SYSTEM_SOPHUS* consistent with the rest of the options. * Update README.md (#6) More accurate statement in the readme, the system does not need to follow a unicycle motion model, just the pose correction needs to do that, which applies to much more robotics platforms. * Add python checks to pre-commit (#9) * Add black and isort * Format * use black for isort * Fixing ROS launch system (#8) * We didnt have proper flagging in the online node * Clean launch common args * Fix formatting python * Tiny modification, but makes sense * Renaming and add configuration for the correspondence threshold * Fix pipeline * Consistency in the CMakeLists * Remove ternary operator and make the two functions consistent * Update cpp/kinematic_icp/correspondence_threshold/CorrespondenceThreshold.hpp Co-authored-by: Benedikt Mersch <mersch@igg.uni-bonn.de> * Renaming according to Ben's review * Why a ref * Odometry Regularization (#19) * Natural extension to make also the odometry regularization optional * Consistency in the CMakeLists * Remove ternary operator and make the two functions consistent * Update cpp/kinematic_icp/correspondence_threshold/CorrespondenceThreshold.hpp Co-authored-by: Benedikt Mersch <mersch@igg.uni-bonn.de> * Renaming according to Ben's review * Why a ref * Use the same default --------- Co-authored-by: Benedikt Mersch <mersch@igg.uni-bonn.de> Co-authored-by: Benedikt Mersch <benedikt.mersch@gmail.com> --------- Co-authored-by: Benedikt Mersch <mersch@igg.uni-bonn.de> Co-authored-by: Benedikt Mersch <benedikt.mersch@gmail.com>
tizianoGuadagnino
added a commit
that referenced
this pull request
Nov 19, 2024
* We didnt have proper flagging in the online node * Clean launch common args * Add new threshold * Update CMakeLists.txt (#7) Make *USE_SYSTEM_SOPHUS* consistent with the rest of the options. * Update README.md (#6) More accurate statement in the readme, the system does not need to follow a unicycle motion model, just the pose correction needs to do that, which applies to much more robotics platforms. * Add python checks to pre-commit (#9) * Add black and isort * Format * use black for isort * Fixing ROS launch system (#8) * We didnt have proper flagging in the online node * Clean launch common args * Fix formatting python * Tiny modification, but makes sense * Renaming and add configuration for the correspondence threshold * Fix pipeline * Consistency in the CMakeLists * Remove ternary operator and make the two functions consistent * Update cpp/kinematic_icp/correspondence_threshold/CorrespondenceThreshold.hpp Co-authored-by: Benedikt Mersch <mersch@igg.uni-bonn.de> * Renaming according to Ben's review * Why a ref * Odometry Regularization (#19) * Natural extension to make also the odometry regularization optional * Consistency in the CMakeLists * Remove ternary operator and make the two functions consistent * Update cpp/kinematic_icp/correspondence_threshold/CorrespondenceThreshold.hpp Co-authored-by: Benedikt Mersch <mersch@igg.uni-bonn.de> * Renaming according to Ben's review * Why a ref * Use the same default --------- Co-authored-by: Benedikt Mersch <mersch@igg.uni-bonn.de> Co-authored-by: Benedikt Mersch <benedikt.mersch@gmail.com> --------- Co-authored-by: Benedikt Mersch <mersch@igg.uni-bonn.de> Co-authored-by: Benedikt Mersch <benedikt.mersch@gmail.com>
tizianoGuadagnino
added a commit
that referenced
this pull request
Nov 21, 2024
* We didnt have proper flagging in the online node * Clean launch common args * Add new threshold * Update CMakeLists.txt (#7) Make *USE_SYSTEM_SOPHUS* consistent with the rest of the options. * Update README.md (#6) More accurate statement in the readme, the system does not need to follow a unicycle motion model, just the pose correction needs to do that, which applies to much more robotics platforms. * Add python checks to pre-commit (#9) * Add black and isort * Format * use black for isort * Fixing ROS launch system (#8) * We didnt have proper flagging in the online node * Clean launch common args * Fix formatting python * Tiny modification, but makes sense * Renaming and add configuration for the correspondence threshold * Fix pipeline * Consistency in the CMakeLists * Remove ternary operator and make the two functions consistent * Update cpp/kinematic_icp/correspondence_threshold/CorrespondenceThreshold.hpp Co-authored-by: Benedikt Mersch <mersch@igg.uni-bonn.de> * Renaming according to Ben's review * Why a ref * Odometry Regularization (#19) * Natural extension to make also the odometry regularization optional * Consistency in the CMakeLists * Remove ternary operator and make the two functions consistent * Update cpp/kinematic_icp/correspondence_threshold/CorrespondenceThreshold.hpp Co-authored-by: Benedikt Mersch <mersch@igg.uni-bonn.de> * Renaming according to Ben's review * Why a ref * Use the same default --------- Co-authored-by: Benedikt Mersch <mersch@igg.uni-bonn.de> Co-authored-by: Benedikt Mersch <benedikt.mersch@gmail.com> --------- Co-authored-by: Benedikt Mersch <mersch@igg.uni-bonn.de> Co-authored-by: Benedikt Mersch <benedikt.mersch@gmail.com>
tizianoGuadagnino
added a commit
that referenced
this pull request
Nov 22, 2024
* We didnt have proper flagging in the online node * Clean launch common args * Add new threshold * Update CMakeLists.txt (#7) Make *USE_SYSTEM_SOPHUS* consistent with the rest of the options. * Update README.md (#6) More accurate statement in the readme, the system does not need to follow a unicycle motion model, just the pose correction needs to do that, which applies to much more robotics platforms. * Add python checks to pre-commit (#9) * Add black and isort * Format * use black for isort * Fixing ROS launch system (#8) * We didnt have proper flagging in the online node * Clean launch common args * Fix formatting python * Tiny modification, but makes sense * Renaming and add configuration for the correspondence threshold * Fix pipeline * Consistency in the CMakeLists * Remove ternary operator and make the two functions consistent * Add 2d lidar support, need testing * Restore ros utils to master * Revise timestamping (#18) * Query from last stamp in case of frame drops * Rename * WIP * Fix conversions * Fix build * Make CI happy * Add TimeStampHandler module to handle this madness * Minor renaming * Try to take care of absolute timestamping of points + scan stamped at the end * Comments * Should fix all cases that came to my mind at this time * Some comments to make stuff more clear * Remove useless case, we need to fix deskewing * Fix condition for clarity --------- Co-authored-by: tizianoGuadagnino <frevo93@gmail.com> * Kinematic ICP Threshold (#15) * We didnt have proper flagging in the online node * Clean launch common args * Add new threshold * Update CMakeLists.txt (#7) Make *USE_SYSTEM_SOPHUS* consistent with the rest of the options. * Update README.md (#6) More accurate statement in the readme, the system does not need to follow a unicycle motion model, just the pose correction needs to do that, which applies to much more robotics platforms. * Add python checks to pre-commit (#9) * Add black and isort * Format * use black for isort * Fixing ROS launch system (#8) * We didnt have proper flagging in the online node * Clean launch common args * Fix formatting python * Tiny modification, but makes sense * Renaming and add configuration for the correspondence threshold * Fix pipeline * Consistency in the CMakeLists * Remove ternary operator and make the two functions consistent * Update cpp/kinematic_icp/correspondence_threshold/CorrespondenceThreshold.hpp Co-authored-by: Benedikt Mersch <mersch@igg.uni-bonn.de> * Renaming according to Ben's review * Why a ref * Odometry Regularization (#19) * Natural extension to make also the odometry regularization optional * Consistency in the CMakeLists * Remove ternary operator and make the two functions consistent * Update cpp/kinematic_icp/correspondence_threshold/CorrespondenceThreshold.hpp Co-authored-by: Benedikt Mersch <mersch@igg.uni-bonn.de> * Renaming according to Ben's review * Why a ref * Use the same default --------- Co-authored-by: Benedikt Mersch <mersch@igg.uni-bonn.de> Co-authored-by: Benedikt Mersch <benedikt.mersch@gmail.com> --------- Co-authored-by: Benedikt Mersch <mersch@igg.uni-bonn.de> Co-authored-by: Benedikt Mersch <benedikt.mersch@gmail.com> * We didnt have proper flagging in the online node * Add new threshold * Renaming and add configuration for the correspondence threshold * Fix pipeline * fixx * Include timestamps from the projected laser --------- Co-authored-by: Benedikt Mersch <mersch@igg.uni-bonn.de> Co-authored-by: Benedikt Mersch <benedikt.mersch@gmail.com>
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
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.
There were some last-minute changes in the launch system used in the project before the open-source release. In the process the rviz node got removed from the
online_nodelaunch, and we didn't realize it because we assumed the default value of thevisualizeflag was set tofalse, while it wastrue. This PR fixes both issues:online_nodelaunch.visualizeflag to false by defaultbag_filenames