fiducial_slam fiducial_slam_node.py

This node performs 3D Simultaneous Localization and Mapping (SLAM) from the fiducial transforms. For the mapping part, pairs of transforms are combined to determine the position of fiducials based on existing observations. For the localization part, fiducial transforms are combined with fiducial poses to estimate the camera pose (and hence the robot pose).

Documentation is on the ROS wiki.

Changelog for package fiducial_slam

0.12.0 (2021-07-30)

• Merge pull request #259 from ivan140/feature/pose_publish_rate Added pose_publish_rate which controls the rate of /fiducial_pose
• added feature pose_publish_rate which controls the rate of topic /fiducial_pose
• Merge pull request #258 from UbiquityRobotics/opencv-deprecated-constant Replace deprecated OpenCV constant in fiducial_slam test
• Replace deprecated OpenCV constant in fiducial_slam test
• Merge pull request #244 from agutenkunst/fix/remove_unused_subs I think this is sensible to merge, since it does not affect the workings of the package and it removes some confusion, so merging
• Remove non-functional doPoseEstimation from fiducial_slam
• Remove unused subscriber
• Merge pull request #221 from UbiquityRobotics/bugfix-#220 Allow covariance to be overridden by launch file
• Allow covariance to be overriden by launch file Uses YAML interpretation for the parameter so that it becomes an array instead of a string. Fix a comparison issue in the code to make the override actually warn on 0 values.
• Return early from auto init when no fiducials
• Merge pull request #214 from UbiquityRobotics/publish_fids Moved fiducial tf publishing to aruco_detect node
• Moved fiducial tf publishing to aruco_detect node
• Address #204 (#205)
• Revert "Address #204" This reverts commit ba13b567ca71a33202547dd6df03d61b94a90d45.
• Address #204
• Use FrameId in rviz markers (#195)
  • FrameId used in the rviz markers
  • FrameId used in rviz markers
• Removed multi-fiducial code (#184)
• Add service call to add a fiducial to the map (#176)
  • Add service call to add a fiducial to the map
  • Abort auto-init when add fiducial service is called.
• Merge pull request #175 from UbiquityRobotics/fix-#173 Cleanup for fiducial_slam
• add and run clang-format
• Get rid of observation.positon, it was only being used in 1 place
• Links to other fiducials uses set instead map<int,int> We only care if the element exists or not, so a set is a clearer data structure to use.
• Unused sum_in_qudrature removed, holdover from Alexy stuff
• Use clearer ranged for where possible Ranged for provides an easier way to interate over every element in a containter. NOTE: This commit changes what I consider to be buggy behavior in the autoInit and findClosestObs code, which was not properly iterating over every elemnent, using obs[0] every time.
• Remove using namespace declarations These are generally considered dangerous, due to the potential for namespace collisions and unclarity when using types.
• Contributors: Alexander Gutenkunst, David Alejo Teissière, Ivan Shalnov, Janez Cimerman, Jim Vaughan, Rohan Agrawal

0.11.0 (2019-05-09)

• Compatibilty with Melodic, remove opencv3 dependancy opencv3 is no longer a package in melodic, so we use cv_bridge to get the correct opencv transitively
• New fusion with planar-based error estimation
  • Estimate variance of fiducial obsevations based on how well they place the robot on the floor upright
  • use Kalman + David method of fusing estimates
  • split out Transform with Variance, do some cleanup
  • Simple unit tests for core fusion code
  • remove hokey outlier rejection
• Add support for overriding covariance diagonal
• Add fiducial transform array stamp (#156)
• Add publish_tf rosparam functionality and updated launch file accordingly (#154)
  • Added publish_tf rosparam to disable publishing pose tf
  • Change default publish_tf to True and fix 'if' formatting
• Contributors: Jack Kilian, Jim Vaughan, Rohan Agrawal

0.10.0 (2018-10-13)

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