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base repository: cartographer-project/cartographer_toyota_hsr
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head repository: cartographer-project/cartographer_toyota_hsr
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  • 17 commits
  • 15 files changed
  • 7 contributors

Commits on Jul 3, 2017

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Commits on Jul 19, 2017

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Commits on Jul 21, 2017

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Commits on Jul 24, 2017

  1. Track cartographer_ros#436. (#36)

    * Track cartographer_ros#436.
    * Fix resolutions.
    SirVer authored and damonkohler committed Jul 24, 2017
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Commits on Jul 28, 2017

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Commits on Aug 3, 2017

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Commits on Aug 16, 2017

  1. Add tf remove (#39)

    yutakaoka authored and wohe committed Aug 16, 2017
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Commits on Aug 25, 2017

  1. Remove unused option. (#40)

    The adaptive_voxel_filter option is no longer used in 3D.
    wohe authored Aug 25, 2017
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Commits on Sep 29, 2017

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  2. Add sampling ratio options. (#42)

    Christoph Schütte authored Sep 29, 2017
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Commits on Nov 16, 2017

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Commits on Nov 17, 2017

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Commits on Nov 23, 2017

  1. Prepare 0.3 release (#45)

    Christoph Schütte authored and wally-the-cartographer committed Nov 23, 2017
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Commits on Jan 11, 2018

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Commits on Feb 26, 2018

  1. Follow googlecartographer/cartographer_ros/#683 (#47)

    Adds the `publish_frame_projected_to_2d` option.
    MichaelGrupp authored and wally-the-cartographer committed Feb 26, 2018
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Commits on Mar 7, 2018

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Commits on Apr 5, 2018

  1. Pass GitHub token to Dockerfile. (#49)

    MichaelGrupp authored and Christoph Schütte committed Apr 5, 2018
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8 changes: 5 additions & 3 deletions .travis.yml
Original file line number Diff line number Diff line change
@@ -25,12 +25,14 @@ env:
- ROS_RELEASE=indigo DOCKER_CACHE_FILE=/home/travis/docker/indigo-cache.tar.gz
- ROS_RELEASE=kinetic DOCKER_CACHE_FILE=/home/travis/docker/kinetic-cache.tar.gz

before_install: scripts/load_docker_cache.sh
before_install:
- scripts/check_access_token.sh $GITHUB_TOKEN
- scripts/load_docker_cache.sh

install: true
script:
- git clone https://github.com/googlecartographer/cartographer_ros.git
- docker build cartographer_ros -t cartographer_ros:${ROS_RELEASE} -f cartographer_ros/Dockerfile.${ROS_RELEASE}
- docker build cartographer_ros -t cartographer_ros:${ROS_RELEASE} -f cartographer_ros/Dockerfile.${ROS_RELEASE} --build-arg github_token=${GITHUB_TOKEN}
- rm -rf cartographer_ros
- docker build ${TRAVIS_BUILD_DIR} -t cartographer_toyota_hsr:${ROS_RELEASE} -f Dockerfile.${ROS_RELEASE}
- docker build ${TRAVIS_BUILD_DIR} -t cartographer_toyota_hsr:${ROS_RELEASE} -f Dockerfile.${ROS_RELEASE} --build-arg github_token=${GITHUB_TOKEN}
- scripts/save_docker_cache.sh
5 changes: 4 additions & 1 deletion Dockerfile.indigo
Original file line number Diff line number Diff line change
@@ -14,10 +14,13 @@

FROM cartographer_ros:indigo

# We require a GitHub access token to be passed.
ARG github_token

# First, we invalidate the entire cache if googlecartographer/cartographer_ros has
# changed. This file's content changes whenever master changes. See:
# http://stackoverflow.com/questions/36996046/how-to-prevent-dockerfile-caching-git-clone
ADD https://api.github.com/repos/googlecartographer/cartographer_ros/git/refs/heads/master \
ADD https://api.github.com/repos/googlecartographer/cartographer_ros/git/refs/heads/master?access_token=$github_token \
cartographer_toyota_hsr/cartographer_ros_version.json

COPY . cartographer_toyota_hsr
5 changes: 4 additions & 1 deletion Dockerfile.kinetic
Original file line number Diff line number Diff line change
@@ -14,10 +14,13 @@

FROM cartographer_ros:kinetic

# We require a GitHub access token to be passed.
ARG github_token

# First, we invalidate the entire cache if googlecartographer/cartographer_ros has
# changed. This file's content changes whenever master changes. See:
# http://stackoverflow.com/questions/36996046/how-to-prevent-dockerfile-caching-git-clone
ADD https://api.github.com/repos/googlecartographer/cartographer_ros/git/refs/heads/master \
ADD https://api.github.com/repos/googlecartographer/cartographer_ros/git/refs/heads/master?access_token=$github_token \
cartographer_toyota_hsr/cartographer_ros_version.json

COPY . cartographer_toyota_hsr
1 change: 1 addition & 0 deletions cartographer_toyota_hsr.rosinstall
Original file line number Diff line number Diff line change
@@ -1,3 +1,4 @@
- git: {local-name: cartographer, uri: 'https://github.com/googlecartographer/cartographer.git'}
- git: {local-name: cartographer_ros, uri: 'https://github.com/googlecartographer/cartographer_ros.git'}
- git: {local-name: cartographer_toyota_hsr, uri: 'https://github.com/googlecartographer/cartographer_toyota_hsr.git'}
- git: {local-name: ceres-solver, uri: 'https://ceres-solver.googlesource.com/ceres-solver.git', version: '1.12.0'}
4 changes: 4 additions & 0 deletions cartographer_toyota_hsr/CHANGELOG.rst
Original file line number Diff line number Diff line change
@@ -2,6 +2,10 @@
Changelog for package cartographer_toyota_hsr
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

0.3.0 (2017-11-23)
------------------
* https://github.com/googlecartographer/cartographer_toyota_hsr/compare/0.2.0...0.3.0

0.2.0 (2017-06-19)
------------------
* https://github.com/googlecartographer/cartographer_toyota_hsr/compare/0.1.0...0.2.0
Original file line number Diff line number Diff line change
@@ -17,8 +17,6 @@
#include <string>
#include <vector>

#include "cartographer/common/configuration_file_resolver.h"
#include "cartographer/common/lua_parameter_dictionary.h"
#include "cartographer_ros/node_options.h"
#include "gtest/gtest.h"
#include "ros/package.h"
@@ -30,15 +28,9 @@ class ConfigurationFilesTest : public ::testing::TestWithParam<const char*> {};

TEST_P(ConfigurationFilesTest, ValidateNodeOptions) {
EXPECT_NO_FATAL_FAILURE({
auto file_resolver = ::cartographer::common::make_unique<
::cartographer::common::ConfigurationFileResolver>(
std::vector<string>{::ros::package::getPath("cartographer_toyota_hsr") +
"/configuration_files"});
const string code = file_resolver->GetFileContentOrDie(GetParam());
::cartographer::common::LuaParameterDictionary lua_parameter_dictionary(
code, std::move(file_resolver));
::cartographer_ros::CreateNodeOptions(&lua_parameter_dictionary);
::cartographer_ros::CreateTrajectoryOptions(&lua_parameter_dictionary);
LoadOptions(::ros::package::getPath("cartographer_toyota_hsr") +
"/configuration_files",
GetParam());
});
}

3 changes: 1 addition & 2 deletions cartographer_toyota_hsr/configuration_files/demo_2d.rviz
Original file line number Diff line number Diff line change
@@ -243,7 +243,6 @@ Visualization Manager:
Value: true
- Class: Submaps
Enabled: true
Map frame: map
Name: Submaps
Submap query service: /submap_query
Topic: /submap_list
@@ -294,7 +293,7 @@ Visualization Manager:
Value: true
- Class: rviz/MarkerArray
Enabled: true
Marker Topic: /trajectory_nodes_list
Marker Topic: /trajectory_node_list
Name: MarkerArray
Namespaces:
"": true
3 changes: 1 addition & 2 deletions cartographer_toyota_hsr/configuration_files/demo_3d.rviz
Original file line number Diff line number Diff line change
@@ -222,7 +222,6 @@ Visualization Manager:
Value: true
- Class: Submaps
Enabled: true
Map frame: map
Name: Submaps
Submap query service: /submap_query
Topic: /submap_list
@@ -261,7 +260,7 @@ Visualization Manager:
Value: true
- Class: rviz/MarkerArray
Enabled: true
Marker Topic: /trajectory_nodes_list
Marker Topic: /trajectory_node_list
Name: MarkerArray
Namespaces:
"": true
15 changes: 12 additions & 3 deletions cartographer_toyota_hsr/configuration_files/toyota_hsr_2d.lua
Original file line number Diff line number Diff line change
@@ -23,14 +23,23 @@ options = {
published_frame = "odom",
odom_frame = "odom",
provide_odom_frame = false,
publish_frame_projected_to_2d = false,
use_odometry = false, -- TODO(macmason): Re-enable odometry once we enable the IMU.
use_laser_scan = true,
use_multi_echo_laser_scan = false,
use_nav_sat = false,
use_landmarks = false,
num_laser_scans = 1,
num_multi_echo_laser_scans = 0,
num_subdivisions_per_laser_scan = 1,
num_point_clouds = 0,
lookup_transform_timeout_sec = 0.1,
submap_publish_period_sec = 0.3,
pose_publish_period_sec = 5e-3,
trajectory_publish_period_sec = 30e-3,
rangefinder_sampling_ratio = 1.,
odometry_sampling_ratio = 1.,
fixed_frame_pose_sampling_ratio = 1.,
imu_sampling_ratio = 1.,
landmarks_sampling_ratio = 1.,
}

MAP_BUILDER.use_trajectory_builder_2d = true
@@ -41,6 +50,6 @@ TRAJECTORY_BUILDER_2D.missing_data_ray_length = 5.
TRAJECTORY_BUILDER_2D.use_imu_data = false -- TODO(macmason): Enable the IMU.
TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true

SPARSE_POSE_GRAPH.optimization_problem.huber_scale = 1e2
POSE_GRAPH.optimization_problem.huber_scale = 1e2

return options
26 changes: 16 additions & 10 deletions cartographer_toyota_hsr/configuration_files/toyota_hsr_3d.lua
Original file line number Diff line number Diff line change
@@ -23,25 +23,31 @@ options = {
published_frame = "odom",
odom_frame = "odom",
provide_odom_frame = false,
publish_frame_projected_to_2d = false,
use_odometry = true,
use_laser_scan = false,
use_multi_echo_laser_scan = false,
use_nav_sat = false,
use_landmarks = false,
num_laser_scans = 0,
num_multi_echo_laser_scans = 0,
num_subdivisions_per_laser_scan = 1,
num_point_clouds = 1,
lookup_transform_timeout_sec = 0.2,
submap_publish_period_sec = 0.3,
pose_publish_period_sec = 5e-3,
trajectory_publish_period_sec = 30e-3,
rangefinder_sampling_ratio = 1.,
odometry_sampling_ratio = 1.,
fixed_frame_pose_sampling_ratio = 1.,
imu_sampling_ratio = 1.,
landmarks_sampling_ratio = 1.,
}

MAP_BUILDER.use_trajectory_builder_3d = true
MAP_BUILDER.num_background_threads = 7
MAP_BUILDER.sparse_pose_graph.optimization_problem.huber_scale = 5e2
MAP_BUILDER.sparse_pose_graph.optimize_every_n_scans = 320
MAP_BUILDER.sparse_pose_graph.constraint_builder.sampling_ratio = 0.03
MAP_BUILDER.sparse_pose_graph.optimization_problem.ceres_solver_options.max_num_iterations = 10
-- Reuse the coarser 3D voxel filter to speed up the computation of loop closure
-- constraints.
MAP_BUILDER.sparse_pose_graph.constraint_builder.adaptive_voxel_filter = TRAJECTORY_BUILDER_3D.high_resolution_adaptive_voxel_filter
MAP_BUILDER.sparse_pose_graph.constraint_builder.min_score = 0.62
POSE_GRAPH.optimization_problem.huber_scale = 5e2
POSE_GRAPH.optimize_every_n_nodes = 320
POSE_GRAPH.constraint_builder.sampling_ratio = 0.03
POSE_GRAPH.optimization_problem.ceres_solver_options.max_num_iterations = 10
POSE_GRAPH.constraint_builder.min_score = 0.62

return options
13 changes: 12 additions & 1 deletion cartographer_toyota_hsr/launch/demo_hsr_2d.launch
Original file line number Diff line number Diff line change
@@ -17,8 +17,19 @@
<launch>
<param name="/use_sim_time" value="true" />
<include file="$(find cartographer_toyota_hsr)/launch/hsr_2d.launch" />

<node name="tf_remove_frames" pkg="cartographer_ros"
type="tf_remove_frames.py">
<remap from="tf_out" to="/tf" />
<rosparam param="remove_frames">
- map
</rosparam>
</node>

<node name="rviz" pkg="rviz" type="rviz" required="true"
args="-d $(find cartographer_toyota_hsr)/configuration_files/demo_2d.rviz" />
<node name="playbag" pkg="rosbag" type="play"
args="--clock $(arg bag_filename)" />
args="--clock $(arg bag_filename)">
<remap from="tf" to="tf_in" />
</node>
</launch>
3 changes: 3 additions & 0 deletions cartographer_toyota_hsr/launch/hsr_2d.launch
Original file line number Diff line number Diff line change
@@ -23,4 +23,7 @@
<remap from="scan" to="hsrb/base_scan" />
<remap from="odom" to="hsrb/odom" />
</node>

<node name="cartographer_occupancy_grid_node" pkg="cartographer_ros"
type="cartographer_occupancy_grid_node" args="-resolution 0.05" />
</launch>
3 changes: 3 additions & 0 deletions cartographer_toyota_hsr/launch/hsr_3d.launch
Original file line number Diff line number Diff line change
@@ -24,4 +24,7 @@
<remap from="odom" to="hsrb/odom" />
<remap from="imu" to="hsrb/base_imu" />
</node>

<node name="cartographer_occupancy_grid_node" pkg="cartographer_ros"
type="cartographer_occupancy_grid_node" args="-resolution 0.10" />
</launch>
2 changes: 1 addition & 1 deletion cartographer_toyota_hsr/package.xml
Original file line number Diff line number Diff line change
@@ -17,7 +17,7 @@

<package format="2">
<name>cartographer_toyota_hsr</name>
<version>0.2.0</version>
<version>0.3.0</version>
<description>
Cartographer configurations and launch files for the Toyota HSR.
</description>
22 changes: 22 additions & 0 deletions scripts/check_access_token.sh
Original file line number Diff line number Diff line change
@@ -0,0 +1,22 @@
#!/bin/bash

# Usage: ./check_access_token.sh ACCESS_TOKEN
# Returns non-zero exit code if ACCESS_TOKEN is invalid.

if [ "$#" -ne 1 ]; then
echo "Please provide an access token to $0" 1>&2
exit 1
fi
token=$1

set -e
function on_error {
echo "Failed to validate GitHub access token!" 1>&2
exit 1
}
trap on_error ERR

test_response=$(curl -s https://api.github.com/?access_token=${token})

echo $test_response | grep -ivq "bad credentials"
echo $"GitHub access token is valid."