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Adding option to transform map based on header timestamp #1066

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merged 3 commits into from
Apr 29, 2017

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ayrton04
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@ayrton04 ayrton04 commented Nov 2, 2016

Addresses #1065. Wasn't sure what name to give the property in the display window. I'm open to suggestions if anyone has any!

@NikolausDemmel
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LGTM.

The name is reasonable IMHO.

@wjwwood
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wjwwood commented Nov 4, 2016

Cool, I'll try it out locally ASAP. @ayrton04 can you give an example scenario where I could test this out?

@ayrton04
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ayrton04 commented Nov 6, 2016

I'm afraid I don't have code I can share, but if you turn a delayed laser scan into an occupancy grid with a timestamp and frame_id of the laser scan itself, then it becomes easy to see the effect of the PR.

@ayrton04
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I've also found that just running a robot in sim and visualizing the local costmap works well. If it moves around a fair amount when the new parameter is set to false, it becomes much more stable after enabling it.

@wjwwood
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wjwwood commented Jan 28, 2017

I tried using the examples in navigation_stage but I was unable to see the change you're talking about when enabling/disabling this option. Maybe you could make a short video/gif and upload it?

@ayrton04
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ayrton04 commented Feb 1, 2017

Sure, I'll do that.

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wjwwood commented Apr 29, 2017

I tried this again but I still couldn't see the difference. I must be doing something that doesn't exhibit the problem in the first place. Since the code lgtm and its hidden behind an option with a default behavior that hasn't changed, I'm going to go ahead and merge this. If someone else notices this doesn't resolve the problem we can fix it up then.

@wjwwood wjwwood merged commit 3cb7b0d into ros-visualization:kinetic-devel Apr 29, 2017
@ayrton04
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Apologies, @wjwwood. I am running Xenial/Kinetic, and was hoping to use one of the open-source robot sims to produce an example, but never found a Kinetic-friendly one, and didn't get around to building an Indigo install in Xenial.

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3 participants