pogolm_interfaces

Overview

pogolm_interfaces is a ROS 2 interface package.

It provides custom message definitions that are used for factor graph debugging, loop edge tracking, and related pose graph optimization (PGO) data structures.

This package does not contain executable nodes. It only defines message types that can be used by other ROS 2 packages.

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Messages

This package includes custom messages such as:

• FactorGraphDebug.msg
• LoopEdgeTracker.msg
• AnchorLookupEntry.msg
• FactorLookupEntry.msg
• LandmarkEntry.msg
• LoopEdgeTrackerEntry.msg

These messages are mainly used to:

• Visualize factor graphs
• Debug pose graph optimization
• Track loop edges
• Exchange structured graph data between nodes

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Installation

From your ROS 2 workspace root:

cd ~/ros2_ws/src
git clone https://github.com/iamdavidson/pogolm_interfaces.git
cd ..
colcon build --packages-select pogolm_interfaces

After building, source the workspace:

source install/setup.bash

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Usage

To use these messages in another package:

In CMakeLists.txt

find_package(pogolm_interfaces REQUIRED)

ament_target_dependencies(your_target
  pogolm_interfaces
)

In package.xml

<depend>pogolm_interfaces</depend>

In C++

#include "pogolm_interfaces/msg/factor_graph_debug.hpp"

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Maintainer

Davit Samuelyan
Universität Osnabrück