[RST-2340] Add serialization support to fuse #98
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efernandez
suggested changes
Aug 23, 2019
| if (graph_publisher_.getNumSubscribers() > 0) | ||
| { | ||
| fuse_msgs::SerializedGraph msg; | ||
| msg.header.stamp = stamp; |
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Could you also set msg.header.frame_id = "map";? (same below for the transaction)
I don't know if it's possible to retrieve the frame of the graph / transaction somehow from their classes. If they don't have that field, I think for now this should be fine, or a ROS param to set the frame.
This is important to visualize the graph in rviz, for example.
This was referenced Aug 23, 2019
efernandez
approved these changes
Aug 26, 2019
|
All commits in this PR have been reviewed independently. Merging. |
This was referenced Jul 13, 2021
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This PR adds serialization to the API of the Variable, Constraint, Graph, and Transaction classes. Support for additional class types can be added as needed.
Additionally, a ROS msgs have been added to transport serialized Graph and Transaction objects using standard ROS comms mechanisms. To demonstrate this ability, a fuse Publisher was created to serialize and publish the updated graph, and a stand alone utility, fuse_echo, was created to subscribe, deserialize, and print the graph.
All commits in this PR have been reviewed independently.