Added option to load cloud through "load_pcd" service #381
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[96] FAILED on melodic
[96] FAILED on noetic
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at-wat
reviewed
May 10, 2021
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Could you temporary change
Lines 3 to 4 in f42ffe9
src/mcl_3dl.cpp
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| } | ||
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| pcl_conversions::toPCL(ros::Time::now(), pc_tmp->header.stamp); | ||
| pc_tmp->header.frame_id = req.frame_id; |
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frame_id of pc_map_ should be params_.frame_ids_["map"].
Possible options are
- transform the pcd data to
params_.frame_ids_["map"]ifreq.frame_idis not equal toparams_.frame_ids_["map"] - remove
frame_idfrommcl_3dl_msgs::LoadPCD::Requestand assume that the frame of the pcd file isparams_.frame_ids_["map"]
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Nice one. I changed it and removed frame_id from the request.
at-wat
reviewed
May 10, 2021
.rosinstall
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| @@ -1,4 +1,4 @@ | |||
| - git: | |||
| local-name: mcl_3dl_msgs | |||
| uri: https://github.com/at-wat/mcl_3dl_msgs.git | |||
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Suggested change
| uri: https://github.com/at-wat/mcl_3dl_msgs.git | |
| uri: https://github.com/remco-r/mcl_3dl_msgs.git |
[98] PASSED on melodicAll tests passed[98] PASSED on noeticAll tests passed |
at-wat
reviewed
May 11, 2021
src/mcl_3dl.cpp
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Comment on lines
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| srv_load_pcd_ = mcl_3dl_compat::advertiseService( | ||
| nh_, "load_pcd", | ||
| pnh_, "load_pcd", &MCL3dlNode::cbLoadPCD, this); |
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New service can be advertised by normal nh_.advertiseService.
mcl_3dl_compat::advertiseService is for the compatibility with the earlier version of mcl_3dl.
Codecov Report
@@ Coverage Diff @@
## master #381 +/- ##
==========================================
- Coverage 94.19% 93.56% -0.64%
==========================================
Files 32 32
Lines 1896 1912 +16
==========================================
+ Hits 1786 1789 +3
- Misses 110 123 +13
Continue to review full report at Codecov.
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[101] PASSED on melodicAll tests passed[101] PASSED on noeticAll tests passed |
[102] PASSED on noeticAll tests passed |
[102] PASSED on melodicAll tests passed |
at-wat
approved these changes
May 12, 2021
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I have rebased on master, and removed the .rosinstall commit |
[103] PASSED on noeticAll tests passed |
[103] PASSED on melodicAll tests passed |
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This PR is accompanied by a service definition in mcl_3dl_msgs: at-wat/mcl_3dl_msgs#30
The map to localize in was previously loaded with a sensor_msgs::PointCloud2 topic. It was not guaranteed that the map was actually loaded with a single publish on the topic. Also it was overkill if you had a pcd you wanted to localize in, because you would have to convert it first to a PointCloud2, then publish it, and then it would be converted in mcl_3dl to a PCL cloud.
This PR implements loading a pcd file by file path, directly into mcl_3dl.