RoboticaUtnFrba / create_autonomy

ROS autonomy stack for iRobot Create 2.

BSD 3-Clause "New" or "Revised" License

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Add IMU and odom_combined to cartographer #227

Closed eborghi10 closed 3 years ago

eborghi10 commented 3 years ago

Description

This PR adds support in cartographer to use odom_combined and integrate the IMU in the calculations.

This PR also simplifies some launch files (removing groups and namespaces).

Type of change

Please delete options that are not relevant.

[X] Bug fix (non-breaking change which fixes an issue)
[X] Breaking change (fix or feature that would cause existing functionality to not work as expected)

How Has This Been Tested?

# Start simulation
GUI=false RVIZ=true LOCALIZATION=cartographer roslaunch ca_gazebo create_sweet_house_3.launch
# Explore
roslaunch ca_mapping_exploration explore.launch

Test Configuration:

[X] Real robot
[X] Gazebo simulation
[ ] Other (please specify)

Checklist:

[ ] My code follows the style guidelines of this project (Travis CI is passing)
[ ] I have performed a self-review of my own code
[ ] I have commented my code, particularly in hard-to-understand areas
[ ] I have made corresponding changes to the documentation
[ ] My changes generate no new warnings
[ ] I have added tests that prove my fix is effective or that my feature works
[ ] New and existing unit tests pass locally with my changes