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Autonomous-Motorsports-Purdue / AMP_ASSv2

Reassembled, simpler, without move_base and loop closure issues
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Record ZED bag data, create launchfile that plays it looped #24

Closed WDobert closed 2 years ago

WDobert commented 2 years ago

What is a quick description of the change?

There is now a zed_host_fake.launch launchfile that will provide all the necessary topics that a working ZED does. It only publishes a small subset of what the actual ZED can, but it's everything needed for RTAB-Map to run.

Is this fixing an issue?

23

Were any issues created as a result of this change?

Playback of the bagfile will start spamming TF warnings, but that's only because identical TF messages are being repeated once the playback loops.

Are there more details that are relevant?

The bagfile is too large (even with just 3 seconds of compressed data) to upload with git, so instead it contains a OneDrive link to download the actual file.

Check lists (check x in [ ] of list items)

For each of these items, please refer to the software style guide

Any additional comments?

If needed, this is what rostopic list outputs, and this is rqt_graph, when the real ZED is running with RTAB-Map.

WDobert commented 2 years ago

Correct, running . disable_zed.sh and then catkin_make does not produce any build errors, even when the submodule is installed. Fairly certain this is because zed_wrapper is only specified as an execution dependency, and not a build dependency.