Recent Releases of rmcl
rmcl - v2.2.2
Patch: - Fixes for OptiX correspondences. - New examples in rmcl_examples
- C++
Published by amock 11 months ago
rmcl - v2.2.1
Stability Update - Dedicated subscriber and publisher queues for each sensor - All sensors now run in separate threads - Replaced all occurrences of point cloud 1 with point cloud 2 - Sensor time delay issue: Warning now takes longer to be triggered - Added new examples demonstrating how to combine different sensor sources The new code has been successfully tested during extended runs on actual robot hardware (FRE2025).
- C++
Published by amock 11 months ago
rmcl - v2.2.0
After conducting real-world tests, we refactored the MICP-L node to better integrate it into the ROS 2 ecosystem and added several new features: - Limited the possible inputs to only rmclmsgs. Instead, we provide nodes and instructions to convert commonly used range sensor messages into rmclmsgs. - MICP-L can now be launched as a composable node. - Separated correspondence search from optimization without losing much efficiency. This allowed us to add classic closest-point correspondences (CP), in addition to ray-casting correspondences (RC) (only available for embree backend). - Improved time synchronization between combinations of sensors and odometry. - Added many new examples and small demos for a quick start: https://github.com/amock/rmcl_examples
- C++
Published by amock about 1 year ago
rmcl - v2.1.0
We had to do minor structural changes to the repository in order to better integrate new features into RMCL. This repository is now devided into - "rmcl" which is a ROS-agnostic library that can be compiled and installed as regular CMake project, - "rmclros" which contains all the nodes, - "rmclmsgs" which are the message moved from to this repository. The original msgs repository is not required anymore.
Using the latest rmcl version might break your launch files as the nodes are now located in "rmcl_ros" package. However, it's rather simple to fix that. The new versions of RMCL are v2.1.0 for ROS 2 and v1.3.0 for ROS 1.
Additional patch-changes: - using rmagine's internal functions for singular value decomposition and covariance math - unified correspondence search API for EmbreeCorrectors
- C++
Published by amock over 1 year ago
rmcl - v1.2.0
Restructuring for the ROS 1 noetic version. We have introduced a new folder structure and changed some namespaces: - ROS-agnostic library parts were moved to "rmcl" - ROS-dependent parts are moved to "rmcl_ros" - Messages are now directly integrated into this repository
- C++
Published by amock over 1 year ago
rmcl - v1.1.0
Interface Changes: - every function has now the order of arguments: dataset first, model second
Bug Fixes: - correspondences were computed incorrectly - tf rate influenced the correction rate
New Functionallities: - added findSPC function for computing the correspondences seperately - added one-pass and two-pass means and covariance computation
Application Changes: - In MICP Node RViz visualizations can be enabled - In MICP Node Correction can be stopped to better visualize correspondences
- C++
Published by aock over 3 years ago