Add RFC for delete / load interface in ROS.

[MichaelGrupp]

rendered version

work in progress progress implementation

[nwotero]

Is there a reason you can only delete finished or frozen trajectories? Can't deleting an active trajectory also finish the trajectory before deleting it for convenience?

[MichaelGrupp]

PoseGraph.DeleteTrajectory() just expects these states: https://github.com/googlecartographer/cartographer/blob/master/cartographer/mapping/internal/2d/pose_graph_2d.cc#L599

Could be of course changed to finish implicitly in the service handler.

[Roboterbastler]

@MichaelGrupp First, thanks for your work and sharing your WIP code! I'm trying to use and test it, but as soon as I attempt to delete a (in my case frozen) trajectory the following check fails and cartographer crashes:

optimization_problem_3d.cc:371] Check failed: imu_data_.HasTrajectory(trajectory_id)

Any idea what is going wrong?

[gurbain]

Hi everyone,

Is anyone still working on this RFC? I'm quite interested to see in integrated in cartographer-ros :)

Gabriel

[MichaelGrupp]

I plan to integrate this feature, but this might take some time since we are currently busy with other maintenance tasks.

[MichaelGrupp]

@bochen87 @wohe Can we merge this RFC for completeness? I want to upstream this feature and associated patches (see e.g. cartographer-project/cartographer#1767 or cartographer-project/cartographer_ros#1540).

[wohe]

@MichaelGrupp Could you assign an RFC number and sign off the PR?

[MichaelGrupp]

Done. I guess we should ignore or deactivate the CLA check here.

[wohe]

Changed it from CLA to DCO check.