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MIT-SPARK / Kimera-RPGO

Robust Pose Graph Optimization
BSD 2-Clause "Simplified" License
474 stars 133 forks source link

Feature/cleanup #48

Closed yunzc closed 4 years ago

yunzc commented 4 years ago
ToniRV commented 4 years ago

I like the restructuring! Thanks!

The PR is a bit too long for me to review fully now, but are there any API changes that would break compatibility? Can you try running Kimera-VIO?

yunzc commented 4 years ago

Actually hold off on reviewing for now. I am testing the header install with Kimera-VIO and Kimera-VIO ROS to confirm that it wouldn't break compatibility. I'll update you once I tested it! Thanks!

yunzc commented 4 years ago

@ToniRV Does not break compatibility for me. Could you check it on your machine when you have the chance though? Thanks

ToniRV commented 4 years ago

Trying now, thanks!

ToniRV commented 4 years ago

Seems to work for me as well, although not sure why I'm not seeing the pose-graph visualization in rviz? Did we update pose_graph_tools and/or the rviz config in kimera-vio-ros?

yunzc commented 4 years ago

Good question, seeing that as well, I can check. Could also be that it doesn't publish if lcd is not on? I'll double check.

yunzc commented 4 years ago

@ToniRV checked that pose-graph visualization is working for me. You were probably not seeing pose-graph because lcd was off (only publishes if lcd on). Is this ok to merge?

Wallbraker commented 4 years ago

Ping? It seems like this PR is needed to properly install RPGO?

ToniRV commented 4 years ago

@yunzc ?

yunzc commented 4 years ago

@yunzc ?

@ToniRV Will merge once double checking for compatibility with current vio master