Michael Grupp

As discussed with @carzum. I don't have good test cases, but to test you can add a dummy error log message [here](https://github.com/magazino/tf_service/blob/michael/cache/src/buffer_client.cc#L121) and it should only log once for repeated...

The data is correctly displayed. Why do you use XZ if your data is in XY?

Sure, you can open as many trajectories as you want using `evo_traj`. See the examples in the README and the Wiki.

> how do I choose the pose of the legend on the plot when using "evo_config" This is not possible in the current version. The behavior of the legend is...

A demo script can be found here: https://github.com/MichaelGrupp/evo/tree/master/contrib/rerun_example

First support comes with new v1.32.0 version of evo. See also: https://github.com/MichaelGrupp/evo/wiki/Rerun-integration

> Umeyama alignment does not seem to fix rotation This is correct. The job of the alignment methods here is to allow different kinds of evaluations, not to fix the...

~~Requires https://github.com/cartographer-project/cartographer/pull/1767 for deleting frozen trajectories.~~ (merged)

Will address your points at some later point and let you know, I currently don't have too much time for this.

I don't understand what feature you are missing. It seems like you are talking about a constraint "starting the trajectories at the same pose" that you want to fulfill to...