Dehann Fourie

revamp common SLAM frontend processor

1

Should be easy to ramp up a complicated SLAM frontend with all the cool features like lag-window marginalization on the tree, and dead-reckon-tethers, etc.

use schema for serialization types / contracts

4

Edited TAC - PackedVariable and PackedFactor generated or implemented from a schema to be more rigid and specific about interchange types. - Care must be taken on null types /...

ROS Integration

17

Please add your comments or support for this requirement here.

pulled from docs: In the future, Caesar will likely interact more closely with repos such as: - [ ] [SensorFeatureTracking.jl](http://www.github.com/JuliaRobotics/SensorFeatureTracking.jl) - [x] [AprilTags.jl](http://www.github.com/JuliaRobotics/AprilTags.jl) - [ ] [RecursiveFiltering.jl](http://www.github.com/JuliaRobotics/RecursiveFiltering.jl)

See [verbNoun](https://juliarobotics.org/Caesar.jl/latest/dev/wiki/) definitions for `Data` vs `Smalldata`.

see https://github.com/JuliaRobotics/DistributedFactorGraphs.jl/issues/234#issuecomment-563998986

Send `getSolverParams(fg).logpath` with any stack trace and potential information that might be useful. Default logpath is `/tmp/caesar/`

[docs] missing docstrings

2


Add to Examples section which canonical factor graphs are available.