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NeBula-Autonomy / LOCUS

Robust Lidar Odometry System
MIT License
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Localisation against GT map #10

Closed willat343 closed 2 years ago

willat343 commented 2 years ago

GT map now gets published once it is loaded in (rather than waiting for a keyframe to be added)

Added a config variable to turn off keyframe addition, as a more explicit/intuitive parameter than just making the threshold variables arbitrarily large.

BenjaminMorrell commented 2 years ago

Publishing the GT map straight away looks good

BenjaminMorrell commented 2 years ago

The parameter can be confusing for someone using it as they may think it is a different lidar odometry option. It is only for scan to pre-loaded map, where you are fully operating in that map.

To make this more clear, I moved the parameter to the GT generation parameters and added comments to clarify