Add pose graph edge visualization - Githubissues

SteveMacenski / slam_toolbox

Slam Toolbox for lifelong mapping and localization in potentially massive maps with ROS

GNU Lesser General Public License v2.1

1.67k stars 525 forks source link

Add pose graph edge visualization #467

Closed hidmic closed 2 years ago

hidmic commented 2 years ago

Basic Info

Info	Please fill out this column
Ticket(s) this addresses	(only connected to #407)
Primary OS tested on	Ubuntu
Robotic platform tested on	CPR's Jackal gazebo simulation

Description of contribution in a few bullet points

Extended graph visualization to include edges, as shown below:

https://user-images.githubusercontent.com/13500507/155807874-45b8a2a5-23cc-4e15-b8bc-be76c0542ff4.mp4

Description of documentation updates required from your changes

None, as this piggybacks on the existing interactive mode.

hidmic commented 2 years ago

@SteveMacenski I added a short screencast of RViz to this PR's description showcasing the feature . PTAL!

SteveMacenski commented 2 years ago

If you're open to it, I'd be happy to merge a forward port to ROS 2