rvp-group / srrg2_slam_interfaces Goto Github PK

First, thank you for sharing your great work!

1. When I tried to build and execute the code following the instruction(https://github.com/srrg-sapienza/srrg2_slam_interfaces/blob/master/srrg2_slam_interfaces/README.md), I met some errors as follows.
   There was no error on building srrg2_core (https://github.com/srrg-sapienza/srrg2_core/tree/master/srrg2_core).
   Do you have any idea of fixing the following errors?

Errors

• srrg_ws/workspaces/srrg2/src/srrg2_slam_interfaces/srrg2_slam_interfaces/src/srrg2_slam_interfaces/initializers/initializer_camera.h:246:20: error: ‘using element_type = class srrg2_core::CameraMatrixOwner_<3> {aka class srrg2_core::CameraMatrixOwner_<3>}’ has no member named ‘param_canvas_rows’; did you mean ‘_canvas_rows’?
  cmowner->param_canvas_rows.setValue(camera_info_msg->rows.value());

• srrg_ws/workspaces/srrg2/src/srrg2_slam_interfaces/srrg2_slam_interfaces/src/srrg2_slam_interfaces/system/multi_graph_slam_impl.cpp:366:8: error: ‘void srrg2_slam_interfaces::MultiGraphSLAM_<LoopClosureType_>::draw(srrg2_core::ViewerCanvasPtr) const [with LoopClosureType_ = srrg2_slam_interfaces::LoopClosure_<srrg2_slam_interfaces::LocalMap2D, srrg2_solver::SE2PosePoseGeodesicErrorFactor>; srrg2_core::ViewerCanvasPtr = std::shared_ptr<srrg2_core::ViewerCanvas>]’ marked ‘override’, but does not override
  void MultiGraphSLAM_<LoopClosureType_>::draw(ViewerCanvasPtr canvas) const {
  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

• srrg_ws/workspaces/srrg2/src/srrg2_slam_interfaces/srrg2_slam_interfaces/src/srrg2_slam_interfaces/system/multi_graph_slam.h:121:7: error: reference to ‘setPlatform’ is ambiguous
  BaseType::setPlatform(platform_);

2. Does this project support or provide a localization-only mode for navigation??

I appreciate any comments! Thank you!.

First of all I would like to thank and congratulate you for coming up with such a wonderful framework. It would be really nice if you could also include examples of creating an interface out of your framework. You have provided lidar slam and vslam examples but they are a bit hard to understand at this stage. I know its still early stage but a step by step short tutorial explaining interface creation and sample slam app would be really helpful.

Thanks