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ethz-asl / grid_map_geo

Geolocalization for grid map using GDAL.
BSD 3-Clause "New" or "Revised" License
141 stars 19 forks source link

[Backport] Align multiple DEMs with TF (#34) #36

Closed Jaeyoung-Lim closed 9 months ago

Jaeyoung-Lim commented 9 months ago

Problem Description This is a backport of https://github.com/ethz-asl/grid_map_geo/pull/34 to ROS2

rviz_screenshot_2024_01_18-10_09_17

Ryanf55 commented 9 months ago

Want help fixing merge conflicts?

Jaeyoung-Lim commented 9 months ago

@Ryanf55 I actually need to fix the part where tf seeped into the grid_map_geo library first.

I would like to keep ros dependencies outside grid_map_geo

Ryanf55 commented 9 months ago

@Ryanf55 I actually need to fix the part where tf seeped into the grid_map_geo library first.

I would like to keep ros dependencies outside grid_map_geo

Sounds good. If you want to split the package into grid_map_geo_core and grid_map_geo_ros packages, that could work too. It's a common pattern (and used in grid_map).

Jaeyoung-Lim commented 9 months ago

@Ryanf55 This should now allow you to download multiple DEMs and Rviz will show them already aligned.

Ryanf55 commented 9 months ago

image Nice work! Just had to zoom out a bit from the default location in the rviz config to see both. A few small things to touch up if you want, otherwise LGTM.

Jaeyoung-Lim commented 9 months ago

@Ryanf55 You can actually call davosdorf and dischma_valley that looks like the following

rviz_screenshot_2024_01_18-10_09_17

Jaeyoung-Lim commented 9 months ago

@Ryanf55 I have tried to address the review comments! Thanks for having a look!

I would probably ignore the style checks and leave it to https://github.com/ethz-asl/grid_map_geo/pull/45

Jaeyoung-Lim commented 9 months ago

@Ryanf55 Good to get in?

Ryanf55 commented 9 months ago

@Ryanf55 Good to get in?

Looks good!