Julian/feature/ros2 #7
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…mb_estimator_graph_ros2
…stency across files
…nventions, including updated includes, parameter handling, and subscription methods. Transition from ros::NodeHandle to rclcpp::Node and adjust message types accordingly for improved compatibility with ROS 2 architecture.
…ies for improved maintainability.
…icTransforms and simplify initialization with only the node pointer.
…raph and smb_estimator_graph_replay, enhancing maintainability and aligning with ROS 2 conventions.
…eading and writing bags, improving performance and compatibility with ROS 2 conventions.
…_in_folder.py, adding support for covariance data and improving error handling.
…y points for console scripts. Introduce new resource file for graph_msf_ros2.
…essing and logging.
…ings for Cholesky factorization and marginals computation, while commenting out the center reference frames parameter.
…tup and readParams functions
…arameters under ros__parameters section
…parameters and node execution
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This branch working with |
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Just updated to a running version for me @deepanaishtaweera. I can't play the mcap file in my ros2 container, and will now try to switch to yours. |
… simulation configuration
SMB bugfix: fixed ordering of param reading and flag setting for static tfs
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Could you share a final rosbag with the best DDS settings with me? Then I can do some final checks, and we can merge it to main these days. |
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These two bags were the last ones sent to us and i checked them for fixes to the IMU and wheel velocity data, but never did thorough testing with them. https://www.swisstransfer.com/d/bad3b6c4-81ed-45d2-8f00-35cdc84cfd21 |
willat343
approved these changes
Jul 7, 2025
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You may want to revert my change here. This was because of the IMU clumping caused by bad DDS
…tandard services as a fallback
…certain circumstances
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FYI to track, so far merged in your changes, now will make a general ament wrapper and make sure that smb is still compiling