RSDK-4106: Restructure lidar name and data rate to use map #213
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pstrutz
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nicksanford
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Jul 25, 2023
cartofacade/capi.go
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| @@ -99,7 +99,7 @@ const ( | |||
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| // CartoConfig contains config values from app | |||
| type CartoConfig struct { | |||
| Sensors []string | |||
| Camera map[string]string | |||
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Suggested change
| Camera map[string]string | |
| CameraName string |
cartofacade/capi.go
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| @@ -179,7 +179,7 @@ func NewCarto(cfg CartoConfig, acfg CartoAlgoConfig, vcl CartoLibInterface) (Car | |||
| return Carto{}, err | |||
| } | |||
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| status = C.free_bstring_array(vcc.sensors, C.size_t(len(cfg.Sensors))) | |||
| status = C.free_bstring_array(vcc.sensors, C.size_t(1)) | |||
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lets change the C API to take a lidar & optionally an imu, rather than having a sensor list
cartofacade/testhelpers.go
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| @@ -12,7 +12,7 @@ func GetTestConfig(sensor string) (CartoConfig, string, error) { | |||
| } | |||
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| return CartoConfig{ | |||
| Sensors: []string{sensor, "imu"}, | |||
| Camera: map[string]string{"name": "test_lidar", "data_freq_hz": "20"}, | |||
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cartographer doesn't need to know the data_frequency_hz does it?
config/config.go
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| if !ok { | ||
| return nil, utils.NewConfigValidationError(path, errCameraMustHaveName) | ||
| } | ||
| dataFreqHz, ok := config.Camera["data_freq_hz"] |
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The scope doc says this is data_frequency_hz
config/config.go
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| if ok { | ||
| dataFreqHz, err := strconv.Atoi(dataFreqHz) | ||
| if err != nil { | ||
| return nil, errors.New("data_freq_hz must only contain digits") |
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this should specify we are talking about camera[data_frequency_hz]
sensors/sensors.go
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| var err error | ||
| dataFreqHz, err = strconv.Atoi(dataFreqHzIn) | ||
| if err != nil { | ||
| logger.Debug("data_freq_hz must only contain digits, setting to default value of %d", defaultDataFreqHz) |
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this should be an error
| } | ||
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| newLidar, err := camera.FromDependencies(deps, name) | ||
| if err != nil { | ||
| return Lidar{}, errors.Wrapf(err, "error getting lidar camera %v for slam service", name) | ||
| } | ||
| // If there is a camera provided in the 'camera' field, we enforce that it supports PCD. | ||
| properties, err := newLidar.Properties(ctx) |
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why do we need to do this?
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because we are now calling it a camera, so users may feel the need to add any kind of camera that does not actually support PCDs
| update_latest_global_pose = true; | ||
| tmp_global_pose = map_builder.GetGlobalPose(local_poses.back()); | ||
| } | ||
| tmp_global_pose = map_builder.GetGlobalPose(); |
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why is this changing?
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oh I thought I changed that back - sorry will fix
| @@ -31,11 +31,6 @@ MapBuilder::~MapBuilder() { | |||
| } | |||
| } | |||
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| std::vector<::cartographer::transform::Rigid3d> | |||
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why is this changing?
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No idea I did not touch that... will fix
| // GetGlobalPose returns the local pose based on the provided a local pose. | ||
| cartographer::transform::Rigid3d GetGlobalPose( |
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why is this changing?
nicksanford
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Jul 25, 2023
| @@ -396,12 +394,12 @@ type CartographerService struct { | |||
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| configParams map[string]string | |||
| dataDirectory string | |||
| sensors []string | |||
| camera map[string]string | |||
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I recommend keeping the cameraName & the data rate msec separate.
Also you can probably migrate all users of primarySensorName to be the cameraName
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Edit lidar naming and config
Build data frequency into lidar map rather than separate variable