Julian/feature/ros2 #7
Conversation
…mb_estimator_graph_ros2
…stency across files
…nventions, including updated includes, parameter handling, and subscription methods. Transition from ros::NodeHandle to rclcpp::Node and adjust message types accordingly for improved compatibility with ROS 2 architecture.
…ies for improved maintainability.
…icTransforms and simplify initialization with only the node pointer.
…raph and smb_estimator_graph_replay, enhancing maintainability and aligning with ROS 2 conventions.
…eading and writing bags, improving performance and compatibility with ROS 2 conventions.
…_in_folder.py, adding support for covariance data and improving error handling.
…y points for console scripts. Introduce new resource file for graph_msf_ros2.
…essing and logging.
…ings for Cholesky factorization and marginals computation, while commenting out the center reference frames parameter.
…tup and readParams functions
…arameters under ros__parameters section
…parameters and node execution
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this is building for me, and still working with all old catkin packages. Also we do not need a graph_msf_ament, as colcon is much more cmake-like. |
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@deepanaishtaweera if you have a rosbag that works it would be great, otherwise it might get a bit tight time-wise |
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I will test this in sim first and once the rosbag is ready we can test on the real data. |
* reduce ament further * Update IMU subscription topic in GraphMsfRos2 to '/imu_topic' * Update lioOdometryRate in smb_graph_params.yaml from 10 to 100 * fix sim time arg * Remove obsolete YAML configuration files for compslam and dumped parameters in smb_estimator_graph_ros2. * Update realTimeSmootherLag parameter in core_graph_params.yaml from 2.0 to 10.0 * Remove obsolete YAML configuration files for compslam and dumped parameters in smb_estimator_graph_ros2. * Add odometry flags and update SmbStaticTransforms logic - Introduced flags for LIO, VIO, and wheel odometry in SmbStaticTransforms. - Updated SmbEstimator to set these flags during initialization. - Modified findTransformations method to conditionally perform transformations based on the new flags. * remove python dependency, as it creates issues when reinitialziing workspace --------- Co-authored-by: dishtaweera <[email protected]>
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i'm testing this branch now. @nubertj built allright so far. |
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This branch working with |
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Just updated to a running version for me @deepanaishtaweera. I can't play the mcap file in my ros2 container, and will now try to switch to yours. |
… simulation configuration
SMB bugfix: fixed ordering of param reading and flag setting for static tfs
FYI to track, so far merged in your changes, now will make a general ament wrapper and make sure that smb is still compiling