Open francescomilano172 opened 3 years ago
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Build fails because cpt_pointlaser_loc_ros
requires any_msgs
from any_tools
, but Jenkins cannot checkout the any_tools
repo from Bitbucket (https://jenkins.asl.ethz.ch/job/projection-node-PR/label=mapcompute-bionic/271/console).
Test FAILed.
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The structure is now the following:
cpt_pointlaser_comm
: ROS-independent interface for communication with the Distobox;cpt_pointlaser_comm_ros
: ROS-wrapper aroundcpt_pointlaser_comm
;cpt_pointlaser_loc
: ROS-independentlocalizer
: handles measurements and maintains an internal optimizer that is used to obtain the base pose in the map;model
: contains the GTSAM traits for theMeshModel
, no changes in this PR;optimizer
: contains the optimizer class, no changes in this PR.cpt_pointlaser_loc_ros
: ROS-interface forcpt_pointlaser_loc
, could in theory contain a 'localizer' class for any 'arm' that one would need to use. Contains aKinovaLocalizer
class that should performhighAccuracyLocalization
with the Kinova arm, and a wrapping ROS node.I could not perform the actual HAL with the
KinovaLocalizer
because the launch files fromcpt_pointlaser_loc_ros
depend on a mesh file that is not include in the originalhilti_slam
repo.I instead checked that the laser measurements can be read correctly: