New factorRelativePose2DWithExtrinsics
Behavior before When computing a factorOdom2D, the extrinsics parameters of the sensor are not considered.
Expected behavior Allow the consideration of sensor's extrinsics parameters when computing the expected measurement.
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- Pep Martí Saumell changed milestone to %Demo Wolf
changed milestone to %Demo Wolf
- Pep Martí Saumell added ~209 enhancement labels
added ~209 enhancement labels
- Pep Martí Saumell changed the description
changed the description
- Pep Martí Saumell created merge request !298 (closed) to address this issue
created merge request !298 (closed) to address this issue
- Pep Martí Saumell mentioned in merge request !298 (closed)
mentioned in merge request !298 (closed)
- Owner
I am not convinced on the pertinence of this update. It is true that all sensors can have extrinsics and these might be off-zero. But in general I like the practice of considering odometers at the origin. So my concern is only about convenience: do we need this odom2D to be offset wrt the robot origin??
- Joan Vallvé Navarro added Agreement required label
added Agreement required label
- Owner
Meeting agreement:
Creating a new factor
factorRelativePose2DWithExtrinsics
and keep thefactorOdom2D
since it is cheaper.Edited by Joan Vallvé Navarro - Joan Vallvé Navarro assigned to @joanvallve and unassigned @jmarti
assigned to @joanvallve and unassigned @jmarti
- Joan Vallvé Navarro removed Agreement required enhancement labels
removed Agreement required enhancement labels
- Joan Vallvé Navarro changed title from factorOdom2D: extrinsics are not considered when computing the factor to New factorRelativePose2DWithExtrinsics
changed title from factorOdom2D: extrinsics are not considered when computing the factor to New factorRelativePose2DWithExtrinsics
- Joan Vallvé Navarro created merge request !354 (merged) to address this issue
created merge request !354 (merged) to address this issue
- Joan Vallvé Navarro mentioned in merge request !354 (merged)
mentioned in merge request !354 (merged)
- Joan Vallvé Navarro closed via merge request !354 (merged)
closed via merge request !354 (merged)
- Joan Vallvé Navarro mentioned in commit 2e497182
mentioned in commit 2e497182