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Integrate 3D models #5

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merged 25 commits into from
Oct 2, 2024
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31e8310
Update devel to build on Ubuntu Jammy (22.04) (#326)
svwilliams May 12, 2023
6a9a61d
Tailor: Updating Jenkinsfile
locus-services Jun 3, 2023
8a6f010
Tailor: Updating Jenkinsfile
locus-services Jun 7, 2023
05812c3
Derive the fixed landmarks from the standard landmarks (#259)
svwilliams Jul 5, 2023
1069e3e
Minor header fixes (#266)
efernandez Jul 5, 2023
d7de264
Add missed geometry_msgs package (#272)
efernandez Jul 5, 2023
bb25c35
Print graph & transaction on optimization failure (#321)
efernandez Jul 5, 2023
ed21f99
add missing tf timeout at differential mode of IMU, odometry, and pos…
fabianhirmann Jul 10, 2023
6814698
[RST-7809] Fix optimization errors when the orientation is initialize…
svwilliams Aug 16, 2023
602d436
Tailor: Updating Jenkinsfile
locus-services Aug 30, 2023
082786d
Update changelogs
garyservin Sep 25, 2023
c8ab2f6
0.7.0
garyservin Sep 25, 2023
a0f039b
Tailor: Updating Jenkinsfile
locus-services Oct 21, 2023
6bb6233
Add ROS1 CI (#347)
paulbovbel Nov 15, 2023
75ea820
Vision constraints (#349)
oscarmendezm Dec 5, 2023
27423b0
Fix tests (#348)
paulbovbel Dec 11, 2023
feb29fc
Tailor: Updating Jenkinsfile
locus-services Dec 27, 2023
6ae3a51
Merge remote-tracking branch 'upstream/devel' into devel
fabianhirmann Jan 23, 2024
86001a7
add 3D models for motion model (Unicycle3D), publisher (Odometry3DPub…
fabianhirmann Feb 16, 2024
2132be6
add sensor model for IMU3D; extend fuse_models::common with variants …
fabianhirmann Feb 27, 2024
d4be009
deduplicate code at unicycle_3d_predict.h
fabianhirmann Feb 28, 2024
7db9351
port sensor model Odometry2D to 3D; fix typo in comment (still TODO: …
fabianhirmann Sep 2, 2024
ef21b5d
integrate sensor processing with differential Pose in 3D (including n…
fabianhirmann Sep 27, 2024
5257333
add proper copyright notice for ARTI
fabianhirmann Oct 1, 2024
90c9443
NormalDeltaOrientation3DEulerCostFunctor and NormalDeltaPose3DEulerCo…
fabianhirmann Oct 1, 2024
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25 changes: 25 additions & 0 deletions .github/workflows/main.yaml
Original file line number Diff line number Diff line change
@@ -0,0 +1,25 @@
name: CI

on:
push:
branches:
- '*'

jobs:
ci:
strategy:
matrix:
include:
- os: ubuntu-20.04
distro: noetic
fail-fast: false
runs-on: ${{ matrix.os }}
steps:
- uses: actions/checkout@v1
- uses: ros-tooling/setup-ros@0.7.0
with:
required-ros-distributions: ${{ matrix.distro }}
- run: sudo apt remove python3-openssl -y
- uses: ros-tooling/action-ros-ci@0.3.5
with:
target-ros1-distro: ${{ matrix.distro }}
6 changes: 3 additions & 3 deletions Jenkinsfile
Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
#!/usr/bin/env groovy
@Library('tailor-meta@0.1.20')_
@Library('tailor-meta@0.1.24')_
tailorTestPipeline(
// Name of job that generated this test definition.
rosdistro_job: '/ci/rosdistro/master',
@@ -10,9 +10,9 @@ tailorTestPipeline(
// Release label to pull test images from.
release_label: 'hotdog',
// OS distributions to test.
distributions: ['focal'],
distributions: ['jammy'],
// Version of tailor_meta to build against
tailor_meta: '0.1.20',
tailor_meta: '0.1.24',
// Master or release branch associated with this track
source_branch: 'devel',
// Docker registry where test image is stored
8 changes: 8 additions & 0 deletions fuse/CHANGELOG.rst
Original file line number Diff line number Diff line change
@@ -11,6 +11,14 @@ Changelog for package fuse
* Update changelogs
* Contributors: Gary Servin

0.7.0 (2023-09-25)
------------------
* 0.6.0
* Update changelogs
* 0.5.0
* Update changelogs
* Contributors: Gary Servin

0.4.2 (2021-07-20)
------------------
* Adding roslint dependency to fuse_viz (`#231 <https://github.com/locusrobotics/fuse/issues/231>`_)
2 changes: 1 addition & 1 deletion fuse/package.xml
Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
<?xml version="1.0"?>
<package format="2">
<name>fuse</name>
<version>0.6.0</version>
<version>0.7.0</version>
<description>
The fuse metapackage
</description>
27 changes: 27 additions & 0 deletions fuse_constraints/CHANGELOG.rst
Original file line number Diff line number Diff line change
@@ -28,6 +28,33 @@ Changelog for package fuse_constraints
* Adding doxygen to all packages (#241)
* Contributors: Gary Servin, Stephen Williams, Tom Moore

0.7.0 (2023-09-25)
------------------
* [RST-7809] Fix optimization errors when the orientation is initialized at +PI (#334)
* Add some unit tests for the 2D orientation constraints; Create getters/setters for the 2D orientation variable is preparation for a fix.
* Force the 2D orientation value to be is minimum phase
* Minor header fixes (#266)
* Use fuse_macros.h instead of deprecated macros.h
* Add missed header
* Sort headers
* Update devel to build on Ubuntu Jammy (22.04) (#326)
* Update to C++17 for use with Ubuntu Jammy
* Include Rviz and Eigen as system includes, which supresses warnings within the included libraries
* use pluginlib and class_list_macros .hpp include instead of deprecated .h From: Lucas Walter <wsacul@gmail.com>
* 0.6.0
* Update changelogs
* 0.5.0
* Update changelogs
* [RST-4186] Fix fuse macro names (#263)
* Namespace all macros with the FUSE\_ prefix. Mark original macros as deprecated.
* Update all fuse objects to use the new macro names
* [RST-4390] Allow variables to be held constant during optimization (#243)
* Add support for holding variables constant
* Create a 'fixed' landmark
* Added initial support for marginalizing constant variables
* Adding doxygen to all packages (#241)
* Contributors: Enrique Fernandez Perdomo, Gary Servin, Stephen Williams, Tom Moore

0.4.2 (2021-07-20)
------------------
* Adding roslint dependency to fuse_viz (`#231 <https://github.com/locusrobotics/fuse/issues/231>`_)
86 changes: 69 additions & 17 deletions fuse_constraints/CMakeLists.txt
Original file line number Diff line number Diff line change
@@ -44,6 +44,8 @@ add_library(${PROJECT_NAME}
src/absolute_orientation_3d_stamped_euler_constraint.cpp
src/absolute_pose_2d_stamped_constraint.cpp
src/absolute_pose_3d_stamped_constraint.cpp
src/absolute_pose_3d_stamped_euler_constraint.cpp
src/fixed_3d_landmark_constraint.cpp
src/marginal_constraint.cpp
src/marginal_cost_function.cpp
src/marginalize_variables.cpp
@@ -78,7 +80,7 @@ target_link_libraries(${PROJECT_NAME}
)
set_target_properties(${PROJECT_NAME}
PROPERTIES
CXX_STANDARD 14
CXX_STANDARD 17
CXX_STANDARD_REQUIRED YES
)

@@ -135,7 +137,33 @@ if(CATKIN_ENABLE_TESTING)
)
set_target_properties(test_absolute_constraint
PROPERTIES
CXX_STANDARD 14
CXX_STANDARD 17
CXX_STANDARD_REQUIRED YES
)

# Absolute Orientation 2D Stamped Constraint Tests
catkin_add_gtest(test_absolute_orientation_2d_stamped_constraint
test/test_absolute_orientation_2d_stamped_constraint.cpp
)
add_dependencies(test_absolute_orientation_2d_stamped_constraint
${catkin_EXPORTED_TARGETS}
)
target_include_directories(test_absolute_orientation_2d_stamped_constraint
PRIVATE
include
${catkin_INCLUDE_DIRS}
${CERES_INCLUDE_DIRS}
${EIGEN3_INCLUDE_DIRS}
)
target_link_libraries(test_absolute_orientation_2d_stamped_constraint
${PROJECT_NAME}
${catkin_LIBRARIES}
${CERES_LIBRARIES}
${EIGEN3_LIBRARIES}
)
set_target_properties(test_absolute_orientation_2d_stamped_constraint
PROPERTIES
CXX_STANDARD 17
CXX_STANDARD_REQUIRED YES
)

@@ -161,7 +189,7 @@ if(CATKIN_ENABLE_TESTING)
)
set_target_properties(test_absolute_orientation_3d_stamped_constraint
PROPERTIES
CXX_STANDARD 14
CXX_STANDARD 17
CXX_STANDARD_REQUIRED YES
)

@@ -187,7 +215,7 @@ if(CATKIN_ENABLE_TESTING)
)
set_target_properties(test_absolute_orientation_3d_stamped_euler_constraint
PROPERTIES
CXX_STANDARD 14
CXX_STANDARD 17
CXX_STANDARD_REQUIRED YES
)

@@ -211,7 +239,31 @@ if(CATKIN_ENABLE_TESTING)
)
set_target_properties(test_absolute_pose_2d_stamped_constraint
PROPERTIES
CXX_STANDARD 14
CXX_STANDARD 17
CXX_STANDARD_REQUIRED YES
)

# Fixed 3D Landmark Constraint Tests
catkin_add_gtest(test_fixed_3d_landmark_constraint
test/test_fixed_3d_landmark_constraint.cpp
)
add_dependencies(test_fixed_3d_landmark_constraint
${catkin_EXPORTED_TARGETS}
)
target_include_directories(test_fixed_3d_landmark_constraint
PRIVATE
include
${catkin_INCLUDE_DIRS}
${CERES_INCLUDE_DIRS}
)
target_link_libraries(test_fixed_3d_landmark_constraint
${PROJECT_NAME}
${catkin_LIBRARIES}
${CERES_LIBRARIES}
)
set_target_properties(test_fixed_3d_landmark_constraint
PROPERTIES
CXX_STANDARD 17
CXX_STANDARD_REQUIRED YES
)

@@ -235,7 +287,7 @@ if(CATKIN_ENABLE_TESTING)
)
set_target_properties(test_absolute_pose_3d_stamped_constraint
PROPERTIES
CXX_STANDARD 14
CXX_STANDARD 17
CXX_STANDARD_REQUIRED YES
)

@@ -257,7 +309,7 @@ if(CATKIN_ENABLE_TESTING)
)
set_target_properties(test_marginal_constraint
PROPERTIES
CXX_STANDARD 14
CXX_STANDARD 17
CXX_STANDARD_REQUIRED YES
)

@@ -280,7 +332,7 @@ if(CATKIN_ENABLE_TESTING)
)
set_target_properties(test_marginalize_variables
PROPERTIES
CXX_STANDARD 14
CXX_STANDARD 17
CXX_STANDARD_REQUIRED YES
)

@@ -304,7 +356,7 @@ if(CATKIN_ENABLE_TESTING)
)
set_target_properties(test_normal_delta_pose_2d
PROPERTIES
CXX_STANDARD 14
CXX_STANDARD 17
CXX_STANDARD_REQUIRED YES
)

@@ -328,7 +380,7 @@ if(CATKIN_ENABLE_TESTING)
)
set_target_properties(test_normal_prior_pose_2d
PROPERTIES
CXX_STANDARD 14
CXX_STANDARD 17
CXX_STANDARD_REQUIRED YES
)

@@ -352,7 +404,7 @@ if(CATKIN_ENABLE_TESTING)
)
set_target_properties(test_relative_constraint
PROPERTIES
CXX_STANDARD 14
CXX_STANDARD 17
CXX_STANDARD_REQUIRED YES
)

@@ -376,7 +428,7 @@ if(CATKIN_ENABLE_TESTING)
)
set_target_properties(test_relative_pose_2d_stamped_constraint
PROPERTIES
CXX_STANDARD 14
CXX_STANDARD 17
CXX_STANDARD_REQUIRED YES
)

@@ -400,7 +452,7 @@ if(CATKIN_ENABLE_TESTING)
)
set_target_properties(test_relative_pose_3d_stamped_constraint
PROPERTIES
CXX_STANDARD 14
CXX_STANDARD 17
CXX_STANDARD_REQUIRED YES
)

@@ -419,7 +471,7 @@ if(CATKIN_ENABLE_TESTING)
)
set_target_properties(test_uuid_ordering
PROPERTIES
CXX_STANDARD 14
CXX_STANDARD 17
CXX_STANDARD_REQUIRED YES
)

@@ -436,7 +488,7 @@ if(CATKIN_ENABLE_TESTING)
)
set_target_properties(test_variable_constraints
PROPERTIES
CXX_STANDARD 14
CXX_STANDARD 17
CXX_STANDARD_REQUIRED YES
)

@@ -458,7 +510,7 @@ if(CATKIN_ENABLE_TESTING)
)
set_target_properties(benchmark_normal_delta_pose_2d
PROPERTIES
CXX_STANDARD 14
CXX_STANDARD 17
CXX_STANDARD_REQUIRED YES
)
endif()
@@ -477,7 +529,7 @@ if(CATKIN_ENABLE_TESTING)
)
set_target_properties(benchmark_normal_prior_pose_2d
PROPERTIES
CXX_STANDARD 14
CXX_STANDARD 17
CXX_STANDARD_REQUIRED YES
)
endif()
30 changes: 30 additions & 0 deletions fuse_constraints/fuse_plugins.xml
Original file line number Diff line number Diff line change
@@ -11,6 +11,18 @@
the 2D linear acceleration.
</description>
</class>
<class type="fuse_constraints::AbsoluteAccelerationAngular3DStampedConstraint" base_class_type="fuse_core::Constraint">
<description>
A constraint that represents either prior information about a 3D angular acceleration, or a direct measurement of
the 3D angular acceleration.
</description>
</class>
<class type="fuse_constraints::AbsoluteAccelerationLinear3DStampedConstraint" base_class_type="fuse_core::Constraint">
<description>
A constraint that represents either prior information about a 3D linear acceleration, or a direct measurement of
the 3D linear acceleration.
</description>
</class>
<class type="fuse_constraints::AbsoluteOrientation2DStampedConstraint" base_class_type="fuse_core::Constraint">
<description>
A constraint that represents either prior information about a 2D orientation, or a direct measurement of the
@@ -41,6 +53,18 @@
the 2D linear velocity.
</description>
</class>
<class type="fuse_constraints::AbsoluteVelocityAngular3DStampedConstraint" base_class_type="fuse_core::Constraint">
<description>
A constraint that represents either prior information about a 3D angular velocity, or a direct measurement of
the 3D angular velocity.
</description>
</class>
<class type="fuse_constraints::AbsoluteVelocityLinear3DStampedConstraint" base_class_type="fuse_core::Constraint">
<description>
A constraint that represents either prior information about a 3D linear velocity, or a direct measurement of
the 3D linear velocity.
</description>
</class>
<class type="fuse_constraints::AbsoluteOrientation3DStampedConstraint" base_class_type="fuse_core::Constraint">
<description>
A constraint that represents either prior information about a 3D orientation, or a direct measurement of the
@@ -63,6 +87,12 @@
A constraint that represents either prior information about a 3D pose, or a direct measurement of the 3D pose.
</description>
</class>
<class type="fuse_constraints::AbsolutePose3DStampedEulerConstraint" base_class_type="fuse_core::Constraint">
<description>
A constraint that represents either prior information about a 3D pose, or a direct measurement of the 3D pose,
with the 3D orientation as roll-pitch-yaw Euler angles.
</description>
</class>
<class type="fuse_constraints::MarginalConstraint" base_class_type="fuse_core::Constraint">
<description>
A constraint that represents remaining marginal information on a set of variables.
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