AMCL Port #23
AMCL Port #23
Conversation
mhpanah
requested review from
mjeronimo,
mkhansenbot,
bpwilcox,
crdelsey and
orduno
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Oops. This file probably shouldn't be checked in.
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| add_executable(amcl src/main.cpp src/amcl_node.cpp) | ||
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| target_link_libraries(amcl |
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This is unnecessary when using ament_target_dependencies below, I believe.
src/amcl/CMakeLists.txt
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| include_directories(include ${Boost_INCLUDE_DIRS}) | ||
| include_directories( | ||
| include | ||
| ../util/include |
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Instead of adding util to the includes and link directories lines, we should be able to do a find_package(util REQUIRED)
The include and link directories will automatically be added by the ament_target_dependencies line. If this doesn't work, we should fix the util package.
src/amcl/CMakeLists.txt
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| ARCHIVE DESTINATION lib | ||
| LIBRARY DESTINATION lib | ||
| RUNTIME DESTINATION bin | ||
| ) | ||
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We need to add these lines here:
ament_export_include_directories(include)
ament_export_libraries(amcl amcl_sensors amcl_map amcl_pf)
src/amcl/src/amcl_node.cpp
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| @@ -1282,24 +1145,24 @@ AmclNode::laserReceived(const sensor_msgs::LaserScanConstPtr& laser_scan) | |||
| pf_matrix_t pose_cov; | |||
| if (!pf_get_cluster_stats(pf_, hyp_count, &weight, &pose_mean, &pose_cov)) | |||
| { | |||
| ROS_ERROR("Couldn't get stats on cluster %d", hyp_count); | |||
| RCLCPP_ERROR(get_logger(), "Couldn't get stats on cluster %d", hyp_count); | |||
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There should be a name associated with the logger, IMHO. I'd go with something like get_logger("amcl") This applies everywhere.
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@mhpanah - this PR should be for the master branch, since it really has no dependencies on the ros2_devel branch. Can you re-submit to master please? |
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@mhpanah - can we close this now since you have the PR to the master branch? |
* Add costmap downsampler - fixes SteveMacenski#4 * Improve costmap downsampler implementation Summary: - Optimized stack allocations - Use existing object for publishing costmap * Make downsampler work with time-variant costmap size * Move downsampled costmap publisher to downsampler * Add publisher to member list and use const-references where possible * Add downsampling factor as a param when calling downsample * Optimize for-loops during cost assignment * Use break instead of continue for exiting set cost loops * Revert "Use break instead of continue for exiting set cost loops" This reverts commit 94aac6d.
* new bt for obstacle replanning * fix according to comments * added RetryUntilSuccesful, fixed RCLCPP_ERROR logger; Co-authored-by: sofia.semianchuk <sofia.semianchuk@logivations.com>
Completed phase 1 of porting AMCL ROS1 package to ROS2. This phase has all the functionalities except dynamic reconfigure, rosbag, and laser scan subscriber which is equivalent to https://github.com/ros2/navigation/pull/9/files.