Factor Graph SLAM with GTSAM #834
Commits on Nov 25, 2019
Commits on Dec 1, 2019
Commits on Dec 30, 2019
Commits on Jan 13, 2020
Commits on Jan 19, 2020
Commits on Feb 23, 2020
Commits on Feb 27, 2020
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Merge branch 'master' of https://github.com/RoboJackets/igvc-software …
…into feat/slam-gtsam
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Commits on Mar 1, 2020
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Merge branch 'master' of https://github.com/RoboJackets/igvc-software …
…into feat/slam-gtsam
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Commits on Mar 2, 2020
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Merge branch 'master' of https://github.com/RoboJackets/igvc-software …
…into feat/slam-gtsam
Commits on Mar 5, 2020
Commits on Mar 19, 2020
Commits on Mar 29, 2020
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Merge branch 'master' of https://github.com/RoboJackets/igvc-software …
…into feat/slam-gtsam
Commits on Apr 1, 2020
Commits on Apr 3, 2020
Commits on Jun 2, 2020
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Change a param in igvc_control.launch
The wheel radius was accidentally set to the wheel diameter causing the robot to move slowly. This commit will change the param to its correct value.
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Commits on Jul 4, 2020
Commits on Apr 2, 2021
Commits on Apr 17, 2021
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Changed frame_ids so can visualize odom in rviz. Added magnetometer r…
…eadings into ekf_localization_node_params so initial orientation accounted for in robot_localization pose_ekf
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Commits on May 6, 2021
Commits on May 23, 2021
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Removed navsat_transform_node stuff and integrated raw gps and wheel …
…odom measurements directly. Weird stuff happening with gps still.
Commits on Jun 4, 2021
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Realized that there was a problem with the hector gazebo plugin which was producing the wrong latitudes and longitudes in the simulation. The wrong behavior was that along the +X axis (East) latitude increased and along the +Y axis (North) longitude decreased. Instead we needed for +X to increase longitude and +Y to increase latitude. Thus I had to set the reference_heading in the jessii.urdf.xacro file to be 90 to fix this issue. Weird how its been going on for so long. Surprised nobody caught this for so long.::
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Commits on Jun 5, 2021
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fixed waypoints on autonav course since previous gps coordinates were…
… incorrect due to gazebo gps plugin bug
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Commits on Jul 18, 2021
Commits on Jul 20, 2021
Commits on Jul 21, 2021
Commits on Jul 23, 2021
Commits on Jul 24, 2021
Commits on Jul 27, 2021
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Fixed graph initialization issue
Initially the graph was initialized with a default orientation of 0 which really screwed stuff up with the mapping before the position estimate was able to converge. This commit uses the orientation from the imu as the initial heading and fixes the problems when the robot initially at a different heading.
Commits on Aug 16, 2021
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Fixed problems with wheel odom
Added initial yaw orientation for wheel odometer and cleaned up includes in cpp and h files