Version 0.2

• Save state and load state support.
• More publishers and completely separated from main code in class Composer

1st Production Release

This kidnap aware, multithreaded pose graph solver. No external dependencies. The loopedge msg defination is now part of this package. A developer who wishes to use this package need to supply the camera odometry (ie. w_T_{ci}. This package will use it to form the odometry residue terms.

This package also subscribes to LoopEdgeMsg which need to contain 2 timestamps and the relative pose (estimated) between these 2 timestamps. This is used to construct loopedge residue terms. The solver then solves the least squares problem using all these as initial guess.

In addition to this, this package also listens to topic rcvd_flag_header which can be used to signal kidnap and unkidnap.

The composer class publishes the current pose in camera frame of reference. See the launch files to know how to run it.