Ryan Soussan

Changed imu aug publish rate to 62.5

5

Simple change to publish IMU aug messages at 62.5Hz instead of 100Hz.

Add image metadata to recorded bagfiles

8

It would be helpful to record some of the image configurations, such as gain and exposure, during activities for future analysis. This could be generalized for other important config files...

Adds new graph_localizer and graph_vio packages that separately perform VIO and map-based localization. Added new packages to support graph-based optimization (optimizers, graph_optimizer, sliding_window_graph_optimizer, nodes, node_adders, factor_adders) and generalize concepts to...

Avoid potentially spurious outlier poses during groundtruth creation

1

Currently our groundtruth creation pipeline maps an input bagfile (part of this process is removing low baseline images) and then registers it against an existing base surf map. The groundtruth...

Fixed Gazebo IMU transform

1

Currently the IMU sensor transform for gazebo is identity. This differs from the ISS bumble.config IMU transform, and this discontinuity causes the localizer to handle it incorrectly. Oddly, when changing...

Small changes that didn't make it in release 0.19.1. Some localization.config changes that improves TEBLID localization performance.

Open Tasks on a per package basis, identified by L/M/H (low/med/high priority) and I if the task is an issue/bug **Depth Odometry:** - [IL] Frame change covariance target_T_source covariance after...

Sparse map multiple cameras

2

Add support for using multiple cameras when making sparse maps. Updated localization node to localize with the camera params from the current robot config. @amoravargas