malcolmmielle / auto-complete-graph

A method to integrate an emergency map into a robot map, so that the robot can plan its way toward places it has not yet explored.

• 🔭 I code in .py, .cpp, .dart, and .tex.
• 😄 Pronouns: He/Him
• 👯 I’m looking to collaborate on robotics, multi-modal sensor fusion, and machine learning.

auto-complete-graph's Issues

errors in graph_map package when building Auto-Complete-Graph

Hi Malcolm, thanks for your good work on ACG. I have some trouble in building this project, i hope you can give me some advice.

My system is ubuntu 16.04 and installed ROS kinect. I uses the code in MDPI branch and install all the dependancyies

• BetterGraph
• VoDiGrEx
• G2O
• perception_oru
• ndt_feature
• occupancy_grid_utils
• grid_map
• OpenCV
• Eigen
• Boost

and i also noticed that in this issue , you gived a new link to package graph_map and graph_localization (at malcolm_changes branch), so i download them and replaced the same-named-packages in perception_oru-port-kinect

after doing things above, i still get errors when doing catkin build auto_complete_graph , and the error message is listed below:

Errors << graph_map:make /home/sean/ACG_ws/logs/graph_map/build.make.002.log
In file included from /home/sean/ACG_ws/src/perception_oru-port-kinetic/graph_map/src/graph_map/reg_type.cpp:1:0:
/home/sean/ACG_ws/src/perception_oru-port-kinetic/graph_map/include/graph_map/reg_type.h:14:43: fatal error: ndt_registration/registration.h: No such file or directory
compilation terminated.
make[2]: *** [CMakeFiles/graph_map.dir/src/graph_map/reg_type.cpp.o] Error 1

it seems that the registration.h is missing, and i can't find this file in this project

I hope maybe you can give me some advice, thank you very much ~~~

updateLinks() been commented inside its caller addNDTGraph()

Functions (int) AutoCompleteGraphLocalization::createNewLinks() and (inline void) AutoCompleteGraphBase::updateLinks() has been fully commented inside the source code.

A member function (int) createNewLinks() of class AutoCompleteGraph calls addLinkBetweenMaps(vec, *it_prior, *it) . Then only one function with the same name AutoCompleteGraphLocalization::addLinkBetweenMaps() can be found, which tells "Those links are not usable anymore in Localization. Use AutoCompleteGraph for that".

The member function createNewLinks() of class AutoCompleteGraph is only called by (virtual void) updateLinks(), a member function of class AutoCompleteGraphFeature inherited from class AutoCompleteGraph. Yet the only call to updateLinks() is commented inside its caller AutoCompleteGraphLocalization::addNDTGraph().

The Auto-Complete Graph paper is scientifically solid and the source is well organized. Hope these tiny puzzles can soon be resolved.

graph_map ROS package and related ROS messages are needed

In class AutoCompleteGraphLocalization, both addNDTGraph() and its caller function updateNDTGraph() takes (const) auto_complete_graph::GraphMapLocalizationMsg as parameter, which include graph_map/GraphMapMsg as a member.
Since Auto-Complete-Graph ROS package depends on graph_map ROS package, The links to graph_map opensource ROS package and its message definition files are desired.

Is the program just can run in Indigo?

My computer is Ubuntu16.04 (Kinetic),when I catkin_make:

########
CMake Warning at /opt/ros/kinetic/share/catkin/cmake/catkin_package.cmake:166 (message):
  catkin_package() DEPENDS on 'system_lib' but neither
  'system_lib_INCLUDE_DIRS' nor 'system_lib_LIBRARIES' is defined.
Call Stack (most recent call first):
  /opt/ros/kinetic/share/catkin/cmake/catkin_package.cmake:102 (_catkin_package)
  tools/ndt_feature_graph-SSRR2017/flirtlib_ros/CMakeLists.txt:96 (catkin_package)


-- +++ processing catkin package: 'ndt_feature'
-- ==> add_subdirectory(tools/ndt_feature_graph-SSRR2017/ndt_feature)
CMake Warning at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:76 (find_package):
  Could not find a package configuration file provided by "ndt_registration"
  with any of the following names:

    ndt_registrationConfig.cmake
    ndt_registration-config.cmake

  Add the installation prefix of "ndt_registration" to CMAKE_PREFIX_PATH or
  set "ndt_registration_DIR" to a directory containing one of the above
  files.  If "ndt_registration" provides a separate development package or
  SDK, be sure it has been installed.
Call Stack (most recent call first):
  tools/ndt_feature_graph-SSRR2017/ndt_feature/CMakeLists.txt:7 (find_package)


-- Could not find the required component 'ndt_registration'. The following CMake error indicates that you either need to install the package with the same name or change your environment so that it can be found.
CMake Error at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
  Could not find a package configuration file provided by "ndt_registration"
  with any of the following names:

    ndt_registrationConfig.cmake
    ndt_registration-config.cmake

  Add the installation prefix of "ndt_registration" to CMAKE_PREFIX_PATH or
  set "ndt_registration_DIR" to a directory containing one of the above
  files.  If "ndt_registration" provides a separate development package or
  SDK, be sure it has been installed.
Call Stack (most recent call first):
  tools/ndt_feature_graph-SSRR2017/ndt_feature/CMakeLists.txt:7 (find_package)


-- Configuring incomplete, errors occurred!
See also "/home/cy/cy_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/cy/cy_ws/build/CMakeFiles/CMakeError.log".
Invoking "cmake" failed
#####

Do you know why?Thank you very much!

Questions on the code `acg_node_localization.cpp`

In the line

Auto-Complete-Graph/src/Localization/acg_node_localization.cpp

Line 890 in ffe7b0d

AASS::acg::AutoCompleteGraphLocalization oacg(g2o::SE2(0.2, 0.1, -0.1), ln,

Where does the param come from? g2o::SE2(0.2, 0.1, -0.1), it seems the offset of the sensor?

Can't build due to missing dependency on ndt_feature

Using 7fa7b62, I have trouble building this package. I have perception_oru from https://github.com/OrebroUniversity/perception_oru.git which includes a package ndt_feature_reg but not ndt_feature. Which version/branch of perception_oru does this package depend on?

path error in build.sh?

While running the last line 'catkin build', the path of shell is still 'your-workspace/src/'.
Should 'cd ..' before 'catkin build'?

Issues on the code in `graph_map_publisher_localization.cpp`

I found some problems when running the code, I am not sure if It is my problem or the code.
In the code:

Auto-Complete-Graph/src/Localization/graph_map_publisher_localization.cpp

Lines 835 to 861 in ffe7b0d

	Eigen::Matrix3d cov;
	Eigen::Vector3d mean;
	std::tie(mean, cov) = acg_localization->localization(
	Tmotion, cloud, sensorpose, fraction, cutoff);
	pcl::PointCloud<pcl::PointXYZ> transformed_cloud;
	pcl::transformPointCloud(cloud, transformed_cloud, sensorpose);
	nav_msgs::Odometry mcl_pose;
	mcl_pose = Pose2DToMsg(mean, cov, time, T);
	mcl_pose.header.stamp = time;
	mcl_pub_.publish(mcl_pose);
	Eigen::Affine3d sensorpose2 =
	Eigen::Translation<double, 3>(mean(0), mean(1), 0) *
	Eigen::AngleAxis<double>(0, Eigen::Vector3d::UnitX()) *
	Eigen::AngleAxis<double>(0, Eigen::Vector3d::UnitY()) *
	Eigen::AngleAxis<double>(mean(2), Eigen::Vector3d::UnitZ());
	pcl::PointCloud<pcl::PointXYZ> transformed_cloud2;
	pcl::transformPointCloud(cloud, transformed_cloud2, sensorpose2);
	sensor_msgs::PointCloud2 pcloudmsg;

In the line

Auto-Complete-Graph/src/Localization/graph_map_publisher_localization.cpp

Line 859 in ffe7b0d

pcl::transformPointCloud(cloud, transformed_cloud2, sensorpose2);

Is it correct to transform the cloud using sensorpose2? Since sensorpose2 is the pose of the robot_base.

From the visualization of rviz, it seems that it should be

pcl::transformPointCloud(transformed_cloud, transformed_cloud2, sensorpose2); 

I am not sure whether there exists a problem... Maybe there are some other reasons?

Best