Multi-robot SLAM#541

Open

jsongCMU wants to merge 20 commits intoSteveMacenski:ros1_multirobotfrom jsongCMU:multi-robot

+244-83

Commits on Oct 16, 2022

Made makeLaser use frame_id from scan
jsongCMU
committed
Allowed subscription to multiple laser scans
jsongCMU
committed
Allowed multirobot odom tf retrieval; updated yaml for multiple odom frames, base frames, laser topics
jsongCMU
committed
Made each robot get its own laser assistant
jsongCMU
committed
Added error messages for different number of frames/topics
jsongCMU
committed
Changed setTransformFromPoses to take in header instead of just stamp
jsongCMU
committed
Changed map-odom tf to use laser frame from scan header, and odom frame is set using laser frame; tf now from map to agent specific odom frame
jsongCMU
committed
Publish all map->base_link tfs to prevent them from going stale
jsongCMU
committed
Fixed incorrect constraints between first scans
jsongCMU
committed
Made shouldProcessScan handle multiple robots with starting odoms of zero
jsongCMU
committed

Commits on Dec 19, 2022

Remove default arg for ref_frame
jsongCMU
committed

Commits on Dec 21, 2022

Commits on Dec 22, 2022

Commits on Jan 2, 2023

Commits on Feb 5, 2023