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Package Summary
| Tags | No category tags. |
| Version | 1.0.0 |
| License | Apache License, Version 2.0 |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/nasa/astrobee.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2024-07-03 |
| Dev Status | UNMAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
The graph localizer package
Additional Links
No additional links.
Maintainers
- Astrobee Flight Software
Authors
- Astrobee Flight Software
\page graphlocalizer Graph Localizer
Package Overview
Performs sliding-window graph based optimization using a LocFactorAdder. Uses a PoseNodeAdder for creating pose nodes at required timestamps using relative odometry measurements.
Background
For more information on the theory behind the GraphLocalizer and the factors used, please see our paper:
- Ryan Soussan, Varsha Kumar, Brian Coltin, and Trey Smith, “Astroloc: An efficient and robust localizer for a free-flying robot”, Int. Conf. on Robotics and Automation (ICRA), 2022. Link
Graph Optimization Structure
Factor Adders
- LocFactorAdder
Graph Factors
- gtsam::BetweenFactor<gtsam::Pose3>
- LocPoseFactor
- LocProjectionFactor
Node Adders
- PoseNodeAdder
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| factor_adders | |
| graph_factors | |
| localization_common | |
| localization_measurements | |
| node_adders | |
| sliding_window_graph_optimizer | |
| catkin |
System Dependencies
No direct system dependencies.
Dependant Packages
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged graph_localizer at Robotics Stack Exchange
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|
|
Package Summary
| Tags | No category tags. |
| Version | 1.0.0 |
| License | Apache License, Version 2.0 |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/nasa/astrobee.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2024-07-03 |
| Dev Status | UNMAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
The graph localizer package
Additional Links
No additional links.
Maintainers
- Astrobee Flight Software
Authors
- Astrobee Flight Software
\page graphlocalizer Graph Localizer
Package Overview
Performs sliding-window graph based optimization using a LocFactorAdder. Uses a PoseNodeAdder for creating pose nodes at required timestamps using relative odometry measurements.
Background
For more information on the theory behind the GraphLocalizer and the factors used, please see our paper:
- Ryan Soussan, Varsha Kumar, Brian Coltin, and Trey Smith, “Astroloc: An efficient and robust localizer for a free-flying robot”, Int. Conf. on Robotics and Automation (ICRA), 2022. Link
Graph Optimization Structure
Factor Adders
- LocFactorAdder
Graph Factors
- gtsam::BetweenFactor<gtsam::Pose3>
- LocPoseFactor
- LocProjectionFactor
Node Adders
- PoseNodeAdder
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| factor_adders | |
| graph_factors | |
| localization_common | |
| localization_measurements | |
| node_adders | |
| sliding_window_graph_optimizer | |
| catkin |
System Dependencies
No direct system dependencies.
Dependant Packages
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.