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mrpt_graphslam_2d:Add to ini config files, instructions #23

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merged 14 commits into from
Jun 13, 2017
Merged

mrpt_graphslam_2d:Add to ini config files, instructions #23

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e76fb1a
mrpt-graphslam_2d:Add using directives when needed
bergercookie May 29, 2017
7bda307
mrpt-graphslam:Remove deprecated .ini argument
bergercookie Jun 6, 2017
c19202f
mrpt_graphslam:Add rviz file for 4 agents
bergercookie Jun 6, 2017
57d0ef5
mrpt-graphslam:Modify parameters of mr-slam .ini file
bergercookie Jun 7, 2017
2ea2f61
mrpt_graphslam_2d:Correct sr_graphslam_demo_gt execution
bergercookie Jun 7, 2017
6463951
mrpt_graphslam_2d:Add initial setup and instructions for running mr-s…
bergercookie Jun 7, 2017
1ebbc72
mrpt_graphslam_2d:Finish configuration for mr-slam with rosbags
bergercookie Jun 8, 2017
9f8aeba
mrpt_graphslam_2d:CGraphSlamEngine_MR to have its own struct for conf…
bergercookie Jun 8, 2017
b741b68
mrpt_graphslam_2d:Have .ini file specifically for gazebo simulations
bergercookie Jun 8, 2017
27295dc
mrpt_graphslam_2d:Tweak config for real-time usage
bergercookie Jun 8, 2017
8a845fc
mrpt_graphslam_2d:Update graphslam_real_2.rviz file
bergercookie Jun 8, 2017
1957fa9
mrpt_graphslam_2d:Add to the instructions for running graphSLAM from …
bergercookie Jun 13, 2017
abad167
mrpt_graphslam_2d:Use template files and python script to generate rv…
bergercookie Jun 13, 2017
9ceff9a
mrpt_graphslam_2d:Fix broken links in README
bergercookie Jun 13, 2017
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mrpt-graphslam_2d:Add using directives when needed
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@bergercookie
bergercookie committed May 29, 2017
commit e76fb1abca2153ecd845cc7c0e89974b50417d92
2 changes: 1 addition & 1 deletion mrpt_graphslam_2d/include/mrpt_graphslam_2d/CGraphSlamEngine_MR.h
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Expand Up @@ -68,7 +68,7 @@ class CGraphSlamEngine_MR : public CGraphSlamEngine_ROS<GRAPH_T>
typedef typename mrpt::graphslam::detail::TNodeProps<GRAPH_T> node_props_t;
typedef mrpt::graphslam::TUncertaintyPath<GRAPH_T> path_t;
typedef std::vector<path_t> paths_t;
typedef CEdgeRegistrationDecider_MR<GRAPH_T> edge_reg_mr_t;
typedef mrpt::graphslam::deciders::CEdgeRegistrationDecider_MR<GRAPH_T> edge_reg_mr_t;

CGraphSlamEngine_MR(
ros::NodeHandle* nh,
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2 changes: 2 additions & 0 deletions mrpt_graphslam_2d/include/mrpt_graphslam_2d/CGraphSlamEngine_MR_impl.h
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Expand Up @@ -466,6 +466,7 @@ template<class GRAPH_T>
void CGraphSlamEngine_MR<GRAPH_T>::initClass() {
using namespace mrpt::graphslam;
using namespace mrpt::utils;
using namespace std;

// initialization of topic namespace names
// TODO - put these into seperate method
Expand Down Expand Up @@ -1394,6 +1395,7 @@ computeGridMap() const {
using namespace mrpt::utils;
using namespace mrpt;
using namespace mrpt::math;
using namespace std;

gridmap_cached->clear();

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4 changes: 4 additions & 0 deletions mrpt_graphslam_2d/include/mrpt_graphslam_2d/CGraphSlamHandler_ROS_impl.h
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Expand Up @@ -193,6 +193,7 @@ void CGraphSlamHandler_ROS<GRAPH_T>::initEngine_MR() {
template<class GRAPH_T>
void CGraphSlamHandler_ROS<GRAPH_T>::getROSParameters(std::string* str_out) {
using namespace mrpt::utils;
using namespace std;

ASSERT_(str_out);

Expand Down Expand Up @@ -256,6 +257,7 @@ std::string CGraphSlamHandler_ROS<GRAPH_T>::getParamsAsString() {

template<class GRAPH_T>
void CGraphSlamHandler_ROS<GRAPH_T>::printParams() {
using namespace std;
parent_t::printParams();
cout << this->getParamsAsString() << endl;
}
Expand Down Expand Up @@ -430,6 +432,8 @@ void CGraphSlamHandler_ROS<GRAPH_T>::setupSrvs() {
template<class GRAPH_T>
bool CGraphSlamHandler_ROS<GRAPH_T>::usePublishersBroadcasters() {
using namespace mrpt::utils;
using namespace std;

MRPT_START;
bool ret_val = true;

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2 changes: 1 addition & 1 deletion mrpt_graphslam_2d/include/mrpt_graphslam_2d/ERD/CLoopCloserERD_MR_impl.h
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Expand Up @@ -59,7 +59,7 @@ void CLoopCloserERD_MR<GRAPH_T>::fetchNodeIDsForScanMatching(

size_t fetched_nodeIDs = 0;
for (int nodeID_i = static_cast<int>(curr_nodeID)-1;
((fetched_nodeIDs <= this->m_laser_params.prev_nodes_for_ICP) &&
((fetched_nodeIDs <= this->m_prev_nodes_for_ICP) &&
(nodeID_i >= 0));
--nodeID_i) {
bool is_own = this->m_engine->isOwnNodeID(nodeID_i);
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