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VIS4ROB-lab / pose_graph_backend

Multi-agent Pose-Graph Sensor Fusion - from "Multi-robot Coordination with Agent-Server Architecture for Autonomous Navigation in Partially Unknown Environments", IROS 2020
GNU General Public License v3.0
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connections in comm_msgs::keyframe #6

Open ghost opened 1 year ago

ghost commented 1 year ago

Hi @lucaBartolomei !

I'm trying to understand the comm_msgs between client and server, in comm_msgs::keyframe I find "connections" message type, but I don't know the meaning of it, why do we need this message and how it works separately in the client side and server side.

This really confuses me, I'm really looking forward to your reply! Thank you!

lucaBartolomei commented 1 year ago

Hi @pjym

Thanks for the interest in the project. Sorry for the late reply.

If I recall correctly, connections indicate the connections between keyframes (e.g. when detecting a loop closure). These are generated on the client's side and then used by the server during optimization to constraint the trajectories.

I hope this helps.