Open naveedhd opened 6 years ago
There is currently one operation in https://github.com/envire/slam-maps/tree/master/src/operations, some other operations are now essentially member functions of the map-types. I assume many operators have not been ported (yet) since they were not required (yet). I have no idea about the current state of graph-operators (if there any plans to add them, or if there are alternatives to them).
Are you looking for some specific operator?
Hi, the functionality of the operators (e.g. project a pointcloud into a map) is now part of the map classes or can be found as part of the tooling (/tools subfolder). The operation graph was not implemented since the data driven update of maps is usually modeled in the node or task level of the robotic framework.
Thanks!
To give context, the application I am considering is related with navigation on a already done SLAM map and want to mix-and-match different layers/maps.
for e.g.
a
-> static map already done before by SLAM
b
-> map populated by lidar
c
-> map populated by 3D sensor
so the planner has the possibility to get, as example, a + b + c
, transform(a) + max(transform(b), transform(c))
etc. Ofcourse there is a possibility for the planner to get the required layers and apply functions itself, but it would be ideal to make planner just get x
map and then x
is setup by operations in the graph.
Does it make sense to do the above within the graph? so that all the items in the chain are updated reactively whenever a new information is available.
Hi,
Has there been any plans for use of operators and operator graph in envire? As far as I know, there are some operators in rock-slam/slam-envire/operators.
Are there any operators and the graph management for it for the newer envire/slam-maps?