removed aloam estimator (will be available as plugin in mrs_aloam_core

metapackage)

config/public/estimators.yaml → config/private/estimators.yaml

@@ -10,8 +10,6 @@ mrs_uav_managers:
       address: "mrs_uav_state_estimators/Rtk"
     rtk_garmin:
       address: "mrs_uav_state_estimators/RtkGarmin"
-    aloam:
-      address: "mrs_uav_state_estimators/Aloam"
     vio:
       address: "mrs_uav_state_estimators/Vio"
     hector_garmin:

config/public/active_estimators.yaml

@@ -3,12 +3,11 @@ mrs_uav_managers:
   estimation_manager:
 
     # loaded state estimator plugins
-    # available in mrs_uav_state_estimators: gps_garmin, gps_baro, rtk, aloam, ground_truth, dummy
+    # available in mrs_uav_state_estimators: gps_garmin, gps_baro, rtk, ground_truth, dummy
     state_estimators: [
     "gps_garmin",
     "gps_baro",
     # "rtk",
-    # "aloam",
     # "ground_truth",
     # "dummy"
     ]

config/public/constraint_manager/constraint_manager.yaml

@@ -7,7 +7,6 @@ mrs_uav_managers:
       "gps_baro",
       "rtk",
       "rtk_garmin",
-      "aloam",
       "hector_garmin",
       "vio",
       "optflow",
@@ -28,7 +27,6 @@ mrs_uav_managers:
       gps_baro: ["slow", "medium", "fast"]
       rtk: ["slow", "medium", "fast"]
       rtk_garmin: ["slow", "medium", "fast"]
-      aloam: ["slow"]
       hector_garmin: ["slow"]
       vio: ["slow"]
       optflow: ["slow"]
@@ -43,7 +41,6 @@ mrs_uav_managers:
       gps_baro: "slow"
       rtk: "slow"
       rtk_garmin: "slow"
-      aloam: "slow"
       hector_garmin: "slow"
       vio: "slow"
       optflow: "slow"

config/public/gain_manager/gain_manager.yaml

@@ -7,7 +7,6 @@ mrs_uav_managers:
       "gps_baro",
       "rtk",
       "rtk_garmin",
-      "aloam",
       "hector_garmin",
       "vio",
       "optflow",
@@ -27,7 +26,6 @@ mrs_uav_managers:
       gps_baro: ["supersoft", "soft"]
       rtk: ["supersoft", "soft"]
       rtk_garmin: ["supersoft", "soft"]
-      aloam: ["supersoft", "soft"]
       hector_garmin: ["supersoft", "soft"]
       vio: ["supersoft", "soft"]
       optflow: ["supersoft", "soft"]
@@ -42,7 +40,6 @@ mrs_uav_managers:
       gps_baro: "soft"
       rtk: "soft"
       rtk_garmin: "soft"
-      aloam: "supersoft"
       hector_garmin: "supersoft"
       vio: "supersoft"
       optflow: "supersoft"

config/public/transform_manager/transform_manager.yaml

@@ -32,18 +32,6 @@ mrs_uav_managers:
       parent: "fcu" # fcu should be the parent if using the default inverted mrs tf tree convention with fcu as the root of the tf tree
       child: "fcu_untilted"
 
-    mapping_origin_tf:
-      enabled: true
-      debug_prints: false
-      lateral_topic: "slam/odom" # name of the topic used for x, y components of the tf (expects nav_msgs/Odometry topic type)
-      altitude_topic: "slam/odom" # name of the topic  used for z components of the tf (expects nav_msgs/Odometry topic type)
-      orientation_topic: "hw_api/orientation" # name of the topic  used for orientation components of the tf (expects geometry_msgs/Quaternion topic type)
-      inverted: true # publish as inverted tf (the default for inverted mrs tf tree convention)
-      custom_frame_id:
-        enabled: true
-        frame_id: "mapping_origin"
-
-
     # the list of additional source topics from which the tfs will be constructed
     tf_sources: []
 
@@ -101,16 +89,6 @@ mrs_uav_managers:
       inverted: true # publish as inverted tf (the default for inverted mrs tf tree convention)
       republish_in_frames: [] # the odometry message will be transformed and republished in the specified frames
 
-    aloam:
-      odom_topic: "odom" # name of the topic (expects nav_msgs/Odometry topic type)
-      tf_from_attitude: # used for transforming velocities before full transform is available
-        enabled: true
-        attitude_topic: "attitude" # name of the attitude topic(expects geometry_msgs/QuaternionStamped topic type)
-      namespace: "estimation_manager/aloam" # the namespace of the topic (usually the node that publishes the topic)
-      utm_based: false # if true, will publish tf to utm_origin
-      inverted: true # publish as inverted tf (the default for inverted mrs tf tree convention)
-      republish_in_frames: [] # the odometry message will be transformed and republished in the specified frames
-
     hector_garmin:
       odom_topic: "odom" # name of the topic (expects nav_msgs/Odometry topic type)
       tf_from_attitude: # used for transforming velocities before full transform is available

include/transform_manager/tf_mapping_origin.h

@@ -148,7 +148,7 @@ class TfMappingOrigin {
 
     const double hdg_mapping_old = mrs_lib::AttitudeConverter(msg->pose.pose.orientation).getHeading();
 
-    /* publish aloam mapping origin tf //{ */
+    /* publish mapping origin tf //{ */
 
     bool clear_needed = false;
 

launch/estimation_manager.launch

@@ -39,7 +39,7 @@
       <!-- Load the default param files -->
       <param name="private_config" value="$(find mrs_uav_managers)/config/private/estimation_manager/estimation_manager.yaml" />
       <param name="public_config" value="$(find mrs_uav_managers)/config/public/estimation_manager/estimation_manager.yaml" />
-      <param name="estimators_config" value="$(find mrs_uav_managers)/config/public/estimators.yaml" />
+      <param name="estimators_config" value="$(find mrs_uav_managers)/config/private/estimators.yaml" />
       <param name="active_estimators_config" value="$(find mrs_uav_managers)/config/public/active_estimators.yaml" />
 
       <param if="$(eval arg('platform_config') == '')" name="platform_config" value="" />

src/transform_manager/transform_manager.cpp

@@ -330,7 +330,7 @@ void TransformManager::onInit() {
 
   // initialize mapping_origin tf
   bool mapping_origin_tf_enabled;
-  param_loader.loadParam(yaml_prefix + "mapping_origin_tf/enabled", mapping_origin_tf_enabled);
+  param_loader.loadParam(yaml_prefix + "mapping_origin_tf/enabled", mapping_origin_tf_enabled, false);
 
   if (mapping_origin_tf_enabled) {