save pose graph when merging map #196
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| transformScan(iter, submap_correction); | ||
| transformed_scans.push_back((*iter)); | ||
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| if (iter == it_LRV->begin() && id != 1){ |
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Please add a space between ) {. Also you didn't indent your if/else code. Finally, remove all spaces between pointer accessors.
SteveMacenski
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SteveMacenski
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Looks good - small thing.
My action items after that's fixed:
- test locally with rviz plugin
- merge
- cherry pick to noetic / ROS2
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| // transform all the scans into the new global map coordinates | ||
| int id = 0; | ||
| bool processed = false; |
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You don't use this variable. You can just ignore the return type if you're not checking its validity.
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Hello, done.
And I am developing the lifelong merge, I am planning to add a new service something like "lifelong merge", it works as lifelong to decay old node when merge pose graph , if you want, I can create another PR after I finish.
Co-Authored-By: Steve Macenski <[email protected]>
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Hello, we have a problem here, for example, if I use lifelong mode, after about 20 minutes , the map will drift, the dock position in the map frame will not be 100% same as initial map. What is your opinion about this problem ? Thank you. |
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