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Generalize planar laser scan support #271

Merged
merged 16 commits into from
Dec 24, 2023
Merged

Generalize planar laser scan support #271

merged 16 commits into from
Dec 24, 2023

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nahueespinosa
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Proposed changes

Related to #170.

Completes the implementation of the laser scan class proposed in #168.

Type of change

  • 🐛 Bugfix (change which fixes an issue)
  • 🚀 Feature (change which adds functionality)
  • 📚 Documentation (change which fixes or extends documentation)

Checklist

  • Lint and unit tests (if any) pass locally with my changes
  • I have added tests that prove my fix is effective or that my feature works
  • I have added necessary documentation (if appropriate)
  • All commits have been signed for DCO

@nahueespinosa nahueespinosa self-assigned this Dec 10, 2023
@nahueespinosa nahueespinosa added enhancement New feature or request cpp Related to C++ code labels Dec 10, 2023
@nahueespinosa nahueespinosa marked this pull request as draft December 10, 2023 23:47
Base automatically changed from nahuel/beluga_ros to main December 11, 2023 18:07
@nahueespinosa
Generalize laser scan support
51c078b 
Signed-off-by: Nahuel Espinosa <nespinosa@ekumenlabs.com>
@nahueespinosa nahueespinosa marked this pull request as ready for review December 11, 2023 18:10
hidmic
hidmic reviewed Dec 11, 2023
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Awesome work @nahueespinosa !

beluga/include/beluga/sensor/data/laser_scan.hpp Outdated Show resolved Hide resolved
beluga_ros/test/test_laser_scan.cpp Outdated Show resolved Hide resolved
beluga/include/beluga/sensor/data/laser_scan.hpp Show resolved Hide resolved
@nahueespinosa
Add missing includes
2628471 
Signed-off-by: Nahuel Espinosa <nespinosa@ekumenlabs.com>
@nahueespinosa
Range intervals are closed
a0e2e1c 
Signed-off-by: Nahuel Espinosa <nespinosa@ekumenlabs.com>
@nahueespinosa
Use constants for tests
1af27f4 
Signed-off-by: Nahuel Espinosa <nespinosa@ekumenlabs.com>
@nahueespinosa
Fix system tests
08e7dda 
Signed-off-by: Nahuel Espinosa <nespinosa@ekumenlabs.com>
@nahueespinosa
Add documentation
15d93bc 
Signed-off-by: Nahuel Espinosa <nespinosa@ekumenlabs.com>
@nahueespinosa
Merge branch 'main' into nahuel/planar-laser-scan
362463f 
Signed-off-by: Nahuel Espinosa <nespinosa@ekumenlabs.com>
glpuga
glpuga reviewed Dec 23, 2023
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Looking good. Mostly comments about being clear how we define take_evenly

beluga/include/beluga/sensor/data/laser_scan.hpp Outdated Show resolved Hide resolved
beluga/include/beluga/views/take_evenly.hpp Show resolved Hide resolved
beluga/include/beluga/views/take_evenly.hpp Outdated Show resolved Hide resolved
beluga/include/beluga/views/take_evenly.hpp Outdated Show resolved Hide resolved
beluga/include/beluga/views/take_evenly.hpp Outdated Show resolved Hide resolved
beluga/test/beluga/views/test_take_evenly.cpp Show resolved Hide resolved
beluga_amcl/src/amcl_node.cpp Show resolved Hide resolved
beluga_amcl/src/amcl_nodelet.cpp Show resolved Hide resolved
beluga_ros/include/beluga_ros/laser_scan.hpp Show resolved Hide resolved
beluga_system_tests/test/test_system.cpp Show resolved Hide resolved
@nahueespinosa
Specify measurement units in documentation
a783dc5 
Signed-off-by: Nahuel Espinosa <nespinosa@ekumenlabs.com>
@nahueespinosa
Improve take_evenly documentation and implementation
5049410 
Signed-off-by: Nahuel Espinosa <nespinosa@ekumenlabs.com>
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@glpuga Thanks for the review! Comments were addressed.

@nahueespinosa
Fix comment
11d269d 
Signed-off-by: Nahuel Espinosa <nespinosa@ekumenlabs.com>
@nahueespinosa
More fixing
0e447bb 
Signed-off-by: Nahuel Espinosa <nespinosa@ekumenlabs.com>
@nahueespinosa
Format to make clang-tidy happy
d5fbc77 
Signed-off-by: Nahuel Espinosa <nespinosa@ekumenlabs.com>
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glpuga commented Dec 24, 2023

Let me know what you think of #271 (comment) , other than that I think this is good.

@glpuga @nahueespinosa
Alternative take_evenly
ed57a98 
Signed-off-by: Nahuel Espinosa <nespinosa@ekumenlabs.com>
glpuga
glpuga approved these changes Dec 24, 2023
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beluga/test/beluga/views/test_take_evenly.cpp Outdated Show resolved Hide resolved
@nahueespinosa
Fix test name
395d0ee 
Signed-off-by: Nahuel Espinosa <nespinosa@ekumenlabs.com>
glpuga
glpuga approved these changes Dec 24, 2023
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LGTM!

@nahueespinosa
Fix failing test
6a9abf7 
Signed-off-by: Nahuel Espinosa <nespinosa@ekumenlabs.com>
@nahueespinosa
Add a test in beluga to catch the previous error
1c02321 
Signed-off-by: Nahuel Espinosa <nespinosa@ekumenlabs.com>
@nahueespinosa nahueespinosa merged commit 51576fb into main Dec 24, 2023
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@nahueespinosa nahueespinosa deleted the nahuel/planar-laser-scan branch December 24, 2023 21:07
@hidmic hidmic mentioned this pull request Jan 19, 2024
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@glpuga glpuga glpuga approved these changes

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