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It isn't even my final form

artemiialessandrini

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It isn't even my final form
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  • Odense, Denmark
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@artemiialessandrini
artemiialessandrini / iron_car.lua
Created May 23, 2020 02:18
include "map_builder.lua"
include "trajectory_builder.lua"
options = {
map_builder = MAP_BUILDER,
trajectory_builder = TRAJECTORY_BUILDER,
map_frame = "map",
tracking_frame = "imu_link",
published_frame = "base_link",
odom_frame = "odom",
@artemiialessandrini
artemiialessandrini / wrapper.cpp
Created December 21, 2019 10:49
#include <ros/ros.h>
#include "std_msgs/String.h"
#include "geometry_msgs/Transform.h"
#include <sensor_msgs/PointCloud2.h>
// PCL specific includes, but mostly aren't needed
#include <pcl_conversions/pcl_conversions.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
@artemiialessandrini
artemiialessandrini / wood_car.lua
Last active October 30, 2019 08:15
wood_car.lua
include "map_builder.lua"
include "trajectory_builder.lua"
options = {
map_builder = MAP_BUILDER,
trajectory_builder = TRAJECTORY_BUILDER,
map_frame = "map",
tracking_frame = "imu_link",
published_frame = "base_link",
@artemiialessandrini
artemiialessandrini / gist:dc01375fc2d59d334e353e96088c52e1
Created October 30, 2019 07:40
wood_car_2d_localization.lua
include "wood_car.lua"
TRAJECTORY_BUILDER.pure_localization_trimmer = {
max_submaps_to_keep = 3,
}
POSE_GRAPH.optimize_every_n_nodes = 2
POSE_GRAPH.constraint_builder.sampling_ratio = 0.05
POSE_GRAPH.constraint_builder.min_score = 0.75
POSE_GRAPH.global_constraint_search_after_n_seconds = 20.
@artemiialessandrini
artemiialessandrini / gist:2988d729a05213dcdf399f5cc02f0f6c
Created October 26, 2019 10:43
demo_backpack_wood_car_2d_localization.launch
<launch>
<param name="/use_sim_time" value="true" />
<param name="robot_description"
textfile="$(find cartographer_ros)/urdf/wood_car.urdf" />
<node name="robot_state_publisher" pkg="robot_state_publisher"
type="robot_state_publisher" >
<remap from="/tf" to="/carto/tf" />
</node>
@artemiialessandrini
artemiialessandrini / gist:e21b0fb616fb2f144dacee1e41745705
Created October 16, 2019 09:31
pip3 install --editable . --upgrade --no-binary evo output Artemii Alessandrini
Obtaining file:///home/artemii/evo
Collecting numpy (from evo==1.5.5)
Using cached https://files.pythonhosted.org/packages/e5/e6/c3fdc53aed9fa19d6ff3abf97dfad768ae3afce1b7431f7500000816bda5/numpy-1.17.2-cp36-cp36m-manylinux1_x86_64.whl
Collecting matplotlib (from evo==1.5.5)
Using cached https://files.pythonhosted.org/packages/57/4f/dd381ecf6c6ab9bcdaa8ea912e866dedc6e696756156d8ecc087e20817e2/matplotlib-3.1.1-cp36-cp36m-manylinux1_x86_64.whl
Collecting scipy (from evo==1.5.5)
Using cached https://files.pythonhosted.org/packages/29/50/a552a5aff252ae915f522e44642bb49a7b7b31677f9580cfd11bcc869976/scipy-1.3.1-cp36-cp36m-manylinux1_x86_64.whl
Collecting pandas (from evo==1.5.5)
Using cached https://files.pythonhosted.org/packages/73/9b/52e228545d14f14bb2a1622e225f38463c8726645165e1cb7dde95bfe6d4/pandas-0.25.1-cp36-cp36m-manylinux1_x86_64.whl
Collecting seaborn>=0.9 (from evo==1.5.5)
@artemiialessandrini
artemiialessandrini / gist:fdbc6c4e38d1cb5f0e9fc379cb59758c
Created October 7, 2019 09:10
ros_cartographer artemiialessandrini
E1007 17:07:38.366153 21812 rosbag_validate_main.cc:350] frame_id "odom" on topic /odom has serialization time 1570438425.001227982 but sensor time 1570438424.468455112 differing by -0.532773 s.
E1007 17:07:38.366683 21812 rosbag_validate_main.cc:350] frame_id "odom" on topic /odom has serialization time 1570438425.001967410 but sensor time 1570438424.472203585 differing by -0.529764 s.
E1007 17:07:38.366732 21812 rosbag_validate_main.cc:350] frame_id "odom" on topic /odom has serialization time 1570438425.002003978 but sensor time 1570438424.477462122 differing by -0.524542 s.
W1007 17:07:38.372545 21812 rosbag_validate_main.cc:352] frame_id "odom" on topic /odom has serialization time 1570438425.014802445 but sensor time 1570438424.517248262 differing by -0.497554 s.
I1007 17:07:39.014505 21812 rosbag_validate_main.cc:398] Time delta histogram for consecutive messages on topic "/scan_1" (frame_id: "horizontal_front_laser_link"):
Count: 1838 Min: 0.072517 Max: 0.082908 Mean: 0.077564
[0.072517, 0.073556)
@artemiialessandrini
artemiialessandrini / 2019-09-28-14-45-15.bag
Last active September 28, 2019 07:08
cartographer_rosbag_validate -bag_filename by artemiialessandrini
E0928 15:00:15.221438 15772 rosbag_validate_main.cc:350] frame_id "odom" on topic /odom has serialization time 1569653126.145352641 but sensor time 1569653125.323555455 differing by -0.821797 s.
E0928 15:00:15.221809 15772 rosbag_validate_main.cc:350] frame_id "odom" on topic /odom has serialization time 1569653126.145469351 but sensor time 1569653125.333523817 differing by -0.811946 s.
E0928 15:00:15.221880 15772 rosbag_validate_main.cc:350] frame_id "odom" on topic /odom has serialization time 1569653126.145615029 but sensor time 1569653125.343534761 differing by -0.80208 s.
W0928 15:00:15.222672 15772 rosbag_validate_main.cc:352] frame_id "imu_link" on topic /imu/data has serialization time 1569653126.148250960 but sensor time 1569653125.820909976 differing by -0.327341 s.
I0928 15:00:17.609419 15772 rosbag_validate_main.cc:398] Time delta histogram for consecutive messages on topic "/scan_1" (frame_id: "horizontal_front_laser_link"):
Count: 6407 Min: 0.071594 Max: 0.083540 Mean: 0.077573
[0.071594, 0.0