MapMerger: Publishing TF and Slam Toolbox

[KarolRoesner]

MapMerging with the GSlam Mapping tool works, but I wanted to ask if the Slam Toolbox branch works correctly.
You say its still under development and there are still some TODOs inside.

My other question is if there is a possibility to show the robots position inside of the merged maps.
I though about using the homography matrix used inside the pairwise_matches parameter or trying to get the transform directly from the transforms_ parameter, but I can't figur out how to do it correctly.
There is even a getTransforms() function inside your merging_pipeline, but i did not figure out if i can use the values out of the box. This function is also not in use.
Sometimes the new merged map jumps to a completely different position inside its world frame. I can image that it is not possible to do a correct position if this happens constantly.

Every answer would be appreciated!

[charlielito]

Hi sorry for the late response.
The SLAM toolbox branch is highly experimental so there can be still some cases where the merging could fail :/ I haven't had the time to finish that feature

My other question is if there is a possibility to show the robots position inside of the merged maps.
I though about using the homography matrix used inside the pairwise_matches parameter or trying to get the transform directly from the transforms_ parameter, but I can't figur out how to do it correctly.
There is even a getTransforms() function inside your merging_pipeline, but i did not figure out if i can use the values out of the box. This function is also not in use.

Currently, I think this is not possible because there is no transform between the merged map frame id and each robot's frame id. Nonetheless, I think this is a good feature to be implemented. The node could publish that transform so the robots can be located inside the merged map. PR's are welcome :D