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feat(ndt_scan_matcher): added logging initial pose #5045
feat(ndt_scan_matcher): added logging initial pose #5045
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Signed-off-by: Shintaro SAKODA <[email protected]>
Signed-off-by: Shintaro SAKODA <[email protected]>
Codecov ReportPatch coverage has no change and project coverage change:
Additional details and impacted files@@ Coverage Diff @@
## main #5045 +/- ##
==========================================
- Coverage 15.71% 15.71% -0.01%
==========================================
Files 1579 1579
Lines 109342 109346 +4
Branches 34106 34103 -3
==========================================
Hits 17188 17188
- Misses 73239 73243 +4
Partials 18915 18915
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c7525bb
into
autowarefoundation:main
…n#5045) * Added logging initial pose Signed-off-by: Shintaro SAKODA <[email protected]> * Added #include <string> to util_func.hpp Signed-off-by: Shintaro SAKODA <[email protected]> --------- Signed-off-by: Shintaro SAKODA <[email protected]>
…n#5045) * Added logging initial pose Signed-off-by: Shintaro SAKODA <[email protected]> * Added #include <string> to util_func.hpp Signed-off-by: Shintaro SAKODA <[email protected]> --------- Signed-off-by: Shintaro SAKODA <[email protected]>
…n#5045) * Added logging initial pose Signed-off-by: Shintaro SAKODA <[email protected]> * Added #include <string> to util_func.hpp Signed-off-by: Shintaro SAKODA <[email protected]> --------- Signed-off-by: Shintaro SAKODA <[email protected]>
Description
Added code to log input and output Pose of initial position estimation in
align_using_monte_carlo
.Tests performed
It was confirmed that it can be successfully executed against sample rosbag.
Effects on system behavior
Each time an initial position estimation is performed using NDT, the following three lines of log are output.
Each value is
(x, y, z, qx, qy, qz, qw, roll, pitch, yaw(deg), cov(0,0), cov(1,1), ... cov(5, 5))
.Pre-review checklist for the PR author
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In-review checklist for the PR reviewers
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Post-review checklist for the PR author
The PR author must check the checkboxes below before merging.
After all checkboxes are checked, anyone who has write access can merge the PR.