search

JuliaRobotics / Caesar.jl

Robust robotic localization and mapping, together with NavAbility(TM). Reach out to info@wherewhen.ai for help.
https://www.wherewhen.ai
MIT License
184 stars 31 forks source link

[ROS, Decision] How to provide non-Gaussian with vanilla ROS msgs? #395

Open dehann opened 4 years ago

dehann commented 4 years ago

ROS SLAM does not really cater for non-Gaussian. So what is the best way to be vanilla, but strawberry and blueberry too?

See Wiki for ROS here

Also related,

dehann commented 4 years ago

https://github.com/jdlangs/RobotOS.jl/blob/master/test/services.jl

dehann commented 4 years ago

https://github.com/JuliaRobotics/Caesar.jl/blob/36ed37febe916410a293d143c26c65fd1b869e99/examples/ros/ServiceExample.jl#L19

pvazteixeira commented 4 years ago

See also:

These are some of the most relevant ROS message type definitions that use the standard assumption of Gaussian measurement noise

dehann commented 4 years ago

Should we develop our own messages and then also populate the existing vanilla interface with printouts saying that those are the reduced Gaussian-only "wrapper" versions. That will allow people to try the new message types after trying out the conventional Gaussian only types. There might be cause to support only new non-Gaussian msg types, but lets start from the familiar stuff and work our way up. Same amount of development on the Julia side to support ROS msgs anyhow.