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locusrobotics / fuse

The fuse stack provides a general architecture for performing sensor fusion live on a robot. Some possible applications include state estimation, localization, mapping, and calibration.
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Add reset to batch opt #360

Closed jakemclaughlin6 closed 8 months ago

jakemclaughlin6 commented 8 months ago

Adding the same reset service from the fixed lag smoother to the batch optimizer. This also adds a mutex for the optimization which is performing fine in my experiments, this is to make sure on reset we have sole access to the graph.

jakemclaughlin6 commented 8 months ago

@svwilliams This should be a relatively non-invasive addition, let me know if otherwise and if so for my use case I can just extend the existing batch optimizer with a reset function

jakemclaughlin6 commented 8 months ago

If this is good to merge, then someone else will have to merge this I don't have access @svwilliams @DavidLocus

svwilliams commented 8 months ago

Yep, I'm working on a ROS 2 port right now. I'll get this merged in later today.