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Ros API improvements #20

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Merged
merged 7 commits into from
Sep 11, 2025
Merged

Ros API improvements #20

merged 7 commits into from
Sep 11, 2025

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@mehermvr
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  • extrinsic parameter names also include the order of quaternion and postion, so its more clear how to provide it
  • bag_filename is renamed to bag_path so that its less potentially confusing
  • All LIO Config parameters are now configurable via ROS and its launch file
  • lidar acceleration publishing is now on request. as it is a noisy estimate of the acceleration, user should be aware when requesting it. also renamed it to explicitly be called lidar_acceleration
  • default rviz config file is updated with a better set of defaults corresponding to the default system configuration
  • launchfile is now significantly improved
    • CLI params now override any value specified in the config file. Unlike before where it was the opposite.
    • The final configuration is printed to console for easier debugging
    • More parameters are configurable
    • better documentation for parameters

@mehermvr mehermvr merged commit f57f3ef into PRBonn:master Sep 11, 2025
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@mehermvr mehermvr deleted the ros_improvements branch September 11, 2025 08:13
@cisrobot cisrobot mentioned this pull request Sep 16, 2025
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mehermvr added a commit that referenced this pull request Sep 17, 2025
@mehermvr
revert offline node bag and buffer completion handling logic
5f5cc90 
this was essentially how it was before we merged #20.
in that, even if the bag is finished, if the registration buffers are
not empty, we still try to pop from the bag although its empty.
obviously leads to seg faults. until we can figure out a better way to
handle this, this will have to be
@mehermvr mehermvr mentioned this pull request Sep 17, 2025
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@mehermvr