[localization] add the option to trigger an update without motion

iris-ua / iris_lama_ros

LaMa on ROS

BSD 3-Clause "New" or "Revised" License

208 stars 59 forks source link

[localization] add the option to trigger an update without motion #27

Closed jcmonteiro closed 3 years ago

jcmonteiro commented 3 years ago

Why

Some users (like myself) might need this feature when migrating from AMCL.

Summary

In AMCL this feature is exposed in the service request_nomotion_update with type std_srvs/Empty. So, I've implemented the same API to keep it consistent. Besides, I've also added a parameter force_update_on_initial_pose to (guess what) force an update when an initial pose is received.

jcmonteiro commented 3 years ago

The build will fail because the API is not yet merged in https://github.com/iris-ua/iris_lama/pull/26.

eupedrosa commented 3 years ago

I don't think that simply merging iris-ua/iris_lama#26 will fix the build. It uses the LaMa version from ROS build farm. I may need to release a new version.

jcmonteiro commented 3 years ago

Oh yes, you're right. The same goes for #28 then.