Julian/feature/ros2

graph_msf/CMakeLists.txt

@@ -24,15 +24,11 @@ message("CMAKE_BUILD_INCLUDE_DIR: ${CMAKE_BUILD_INCLUDE_DIR}")
 find_package(Eigen3 REQUIRED)
 find_package(GTSAM REQUIRED)
 find_package(GTSAM_UNSTABLE REQUIRED)
-find_package(Python3 REQUIRED COMPONENTS Development)
-find_package(tf2_eigen REQUIRED)
 
 message("Eigen Version:: ${EIGEN3_VERSION_STRING}")
 message("Eigen Path:: ${EIGEN3_DIR}")
 message("GTSAM Include Path:: ${GTSAM_INCLUDE_DIRS}")
 
-set(CMAKE_POSITION_INDEPENDENT_CODE ON)
-
 # Color settings for terminal output
 if(NOT WIN32)
     string(ASCII 27 Esc)
@@ -41,17 +37,10 @@ if(NOT WIN32)
     set(Magenta "${Esc}[35m")
 endif ()
 
-# Eigen
-find_package(Eigen3 REQUIRED COMPONENTS)
-# GTSAM
-find_package(GTSAM REQUIRED)
-find_package(GTSAM_UNSTABLE REQUIRED)
-message("GTSAM Version:" ${GTSAM_VERSION})
-message("GTSAM Path:" ${GTSAM_DIR})
-
 ###########
 ## Build ##
 ###########
+
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
@@ -76,6 +65,8 @@ add_library(${PROJECT_NAME} SHARED
         src/lib/TrajectoryAlignmentHandler.cpp
         src/lib/NavState.cpp
 )
+# Exported alias target
+add_library(${PROJECT_NAME}::${PROJECT_NAME} ALIAS ${PROJECT_NAME})
 
 # Link GTSAM and other dependencies to the graph_msf library
 target_link_libraries(${PROJECT_NAME}

graph_msf/include/graph_msf/config/StaticTransforms.h

@@ -38,7 +38,7 @@ class StaticTransforms : public TransformsDictionary<Eigen::Isometry3d> {
   const std::string& getInitializationFrame() { return initializationFrame_; }
 
   // Functionality ------------------------------------------------------------
-  virtual void findTransformations() = 0;
+  virtual bool findTransformations() = 0;
 
  protected:
   // Required frames

graph_msf/include/graph_msf/factors/gmsf_expression/GmsfUnaryExpressionLocalVelocity3.h

@@ -33,8 +33,8 @@ class GmsfUnaryExpressionLocalVelocity3 final : public GmsfUnaryExpressionLocal<
     // Check whether we can find an IMU measurement corresponding to the velocity measurement
     double imuTimestamp;
     graph_msf::ImuMeasurement imuMeasurement = graph_msf::ImuMeasurement();
-    if (!imuBufferPtr->getClosestImuMeasurement(imuTimestamp, imuMeasurement, 0.02, velocityUnaryMeasurementPtr->timeK())) {
-      REGULAR_COUT << RED_START << "No IMU Measurement (in time interval) found, assuming 0 angular velocity for the factor." << COLOR_END
+    if (!imuBufferPtr->getClosestImuMeasurement(imuTimestamp, imuMeasurement, 0.1, velocityUnaryMeasurementPtr->timeK())) { // previously 0.02
+      REGULAR_COUT << RED_START << " No IMU Measurement (in time interval) found, assuming 0 angular velocity for the factor." << COLOR_END
                    << std::endl;
     }