Provide a static map for global costmap to read from
Publishes an odometry topic /tracked_pose that may be more preferable depending on the application
Autonav: GPS waypoints will be transformed into /map frame before sending to move_base action client
Note: A fix to the cartographer source code is required for costmap to recognize obstacles. Cartographer works with a range of values depicting the probability of an obstacle, while costmap requires only 3 (free, occupied, inflation). The fix was to raise cartographer map values to the max so costmap sees it as 'occupied' space. A patch file was added to add the fix.
Includes some CV Integration Improvements from 2023 year (not complete):
Transforming CV lane detections to lidar scan topic, this is fed directly to cartographer to generate a map.
Utilizes a depth map of flat ground to compute the location of lane lines
Virtual layers for costmap no longer needed
Note: More updated improvements from IGVC-2023 will be merged at a later date
Adds SLAM functionality with Cartographer:
map -> base_linktransforms (doesn't drift)/tracked_posethat may be more preferable depending on the application/mapframe before sending tomove_baseaction clientNote: A fix to the cartographer source code is required for costmap to recognize obstacles. Cartographer works with a range of values depicting the probability of an obstacle, while costmap requires only 3 (free, occupied, inflation). The fix was to raise cartographer map values to the max so costmap sees it as 'occupied' space. A patch file was added to add the fix.
Includes some CV Integration Improvements from 2023 year (not complete):
Note: More updated improvements from IGVC-2023 will be merged at a later date