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Add support for multi-sensor scenarios #232

Merged
merged 22 commits into from
Oct 27, 2023
Merged

Add support for multi-sensor scenarios #232

merged 22 commits into from
Oct 27, 2023

Commits on Oct 3, 2023

  1. Fix TF tree usage in ROS 2 wrapper 

    Signed-off-by: Ignacio Vizzo <[email protected]>
    @nachovizzo
    nachovizzo committed Oct 3, 2023
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Commits on Oct 13, 2023

  1. Transform the pose instead of the pointcloud

    @nachovizzo
    nachovizzo committed Oct 13, 2023
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  2. Merge remote-tracking branch 'origin/main' into nacho/fix_ros_tf_tree… 

    …_usage
    @nachovizzo
    nachovizzo committed Oct 13, 2023
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  3. remove include

    @nachovizzo
    nachovizzo committed Oct 13, 2023
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Commits on Oct 19, 2023

  1. Remove default base_frame parameter value 

    This will make KISS-ICP work ego-centric as default
    @nachovizzo
    nachovizzo committed Oct 19, 2023
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  2. Remove unused variable

    @nachovizzo
    nachovizzo committed Oct 19, 2023
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  3. Do not reuse pose_msg.pose

    @nachovizzo
    nachovizzo committed Oct 19, 2023
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  4. I'm not ever sure why we did that in first instance

    @nachovizzo
    nachovizzo committed Oct 19, 2023
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  5. Be more explicit about the stamps and frame_id of the headers

    @nachovizzo
    nachovizzo committed Oct 19, 2023
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  6. Extract publishing mechanism to a new function (#246)

    @nachovizzo
    nachovizzo authored Oct 19, 2023
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  7. Convert class member function to more useful utility 

    And fix a small bug, the order was of the transformation before was the
opposite, and therefore we were obtaining base2cloud. Since we multiply
by both sides we can't really see the difference, but it was
conceptually wrong.
    @nachovizzo
    nachovizzo committed Oct 19, 2023
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  8. Bring back debugging clouds to ros driver

    @nachovizzo
    nachovizzo committed Oct 19, 2023
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  9. re-arange logic on when and when not to publish clouds

    @nachovizzo
    nachovizzo committed Oct 19, 2023
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  10. fix lofic

    @nachovizzo
    nachovizzo committed Oct 19, 2023
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  11. Update rviz2

    @nachovizzo
    nachovizzo committed Oct 19, 2023
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  12. Loosing my mind already with this debugging info

    @nachovizzo
    nachovizzo committed Oct 19, 2023
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Commits on Oct 20, 2023

  1. Backport tf multisensor fix (#245) 

    * Build system changes for tf fix

* Modify params for tf fix

* Add ROS 1 tf fixes similar to ROS 2

* Update rviz config

* Remove unused debug publishers

* Remove unnecessary smart pointers

* Update ROS 1 to match ROS 2 changes
    @playertr
    playertr authored Oct 20, 2023
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  2. Fix style

    @nachovizzo
    nachovizzo committed Oct 20, 2023
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  3. Remove sophus from build system 

    Fixing now the CI is a big pain
    @nachovizzo
    nachovizzo committed Oct 20, 2023
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  4. Remove unnecessary alias

    @nachovizzo
    nachovizzo committed Oct 20, 2023
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Commits on Oct 27, 2023

  1. Merge branch 'main' into nacho/fix_ros_tf_tree_usage

    @tizianoGuadagnino
    tizianoGuadagnino authored Oct 27, 2023
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  2. Merge branch 'main' into nacho/fix_ros_tf_tree_usage

    @tizianoGuadagnino
    tizianoGuadagnino committed Oct 27, 2023
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