Improved mapper node to perform localization with a given map and a specified initial pose. #33
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loading of point clouds with colors and normals. - Added publishing of filtered and full sensor registered sensor_msgs::PointCloud2 msgs - Added publishing of geometry_msgs::PoseStamped in a new configurable frame_id (baseFrame) - Added option to invert tf (useful to bypass limitation of tf being a tree) - Added setup of initial pose from parameter server at startup - Added setup of map using path from parameter server at startup - Changed most ROS_INFO to ROS_DEBUG to not cause unnecessary console information overload - Added conversion between geometry_msgs::Pose and Eigen matrix - Added timeout parameter to PointMatcher_ros::transformListenerToEigenMatrix
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ok, that one will take me a bit more time to review. I can at least say that the reported error is not caused by your patch, but from a configuration problem on our Jenkins server. |
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sensor_msgs::PointCloud2 msgs
frame_id (baseFrame)
tree)
information overload
PointMatcher_ros::transformListenerToEigenMatrix
Tested in Ubuntu 14.04 with ROS Indigo for comparison with DRL system:
https://github.com/carlosmccosta/dynamic_robot_localization_tests/blob/hydro-devel/launch/environments/asl/bags/ethzasl_kinect_dataset_high_complexity_slow_fly_movement.launch
roslaunch dynamic_robot_localization_tests ethzasl_kinect_dataset_high_complexity_slow_fly_movement.launch use_dynamic_robot_localization:=0 use_ethzasl_icp_mapper:=1
Note:
Requires pull request
norlab-ulaval/libpointmatcher#103