vtr3
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utiasASRL
VT&R3 is a C++ implementation of the Teach and Repeat navigation framework. It enables a robot to be taught a network of traversable paths and then closely repeat any part of the network.
Support for ZED Stereo Camera We are currently working towards enabling support for ZED stereo camera in our VT&R framework. More detailed instructions on how to set up ZED camera...
After teaching a 200m loop I attempted to complete a merge. The merge was initially successful, as the yellow arrow popped up, but when I clicked on the arrow the...
The path tracker should not look past the cusp until the robot is close enough to it.
Log, screen recording, and issue explanation here: https://drive.google.com/drive/u/2/folders/12fKPxI9GqUSkbG8k8EYjXrJUln-Pewg_
I've always assumed that the MEL feature matching visualization happens in the mel_matcher_module with an enabling flag: https://github.com/utiasASRL/vtr3/blob/3eb447d12d9349964358c4a7a62033af82311570/main/src/vtr_vision/src/modules/matching/mel_matcher_module.cpp#L54 However, the visualization function is actually called in ransac_module here: https://github.com/utiasASRL/vtr3/blob/aae397c80642b8bc3e6089342ede4e085db9dba3/main/src/vtr_vision/src/modules/ransac/ransac_module.cpp#L202 Does...
When user confirms a merge point by clicking on the yellow triangle, internally we check if the distance to the merging vertex is too large to merge. However, if a...
Force to metric-localization state during repeat does not work as expected (after recent cusp issue fix on path tracker side) - disable this function for now in the UI (see...
See: https://drive.google.com/drive/folders/1YvgF9iwTWB3pvqntZ0Qge8zB9TxKTzhk?usp=sharing videos and log file
So far this may happen after a long (likely >2km) repeat for the camera TR case.
Add instructions or change the selector. [T1-3:52] https://drive.google.com/file/d/1ictclQfTq7oL9txlkxj6qh3lUpIeQlU-/view?usp=sharing