Holistic Fusion
Table of Contents
Installation
Requirements
Docker
Custom Build
Graph MSF Core
Eigen3
GTSAM
Core Library
Catkin Workspace
Colcon Workspace
System Overview
Architecture
Core Library
Interface Layer
Measurement Types
Graph Manager
Static Transforms
Communication Wrappers
ROS1 (
graph_msf_ros
)
ROS2 (
graph_msf_ros2
)
Data Flow
Usage
ROS1 Workspace
ROS2 Workspace
Parameters
Core Library Parameters
Core Extrinsic Parameters
Core Graph Config
Core Graph Parameters
Applications Specific Parameters
GTSAM Catkin
Docker
ROS1 Noetic
Building the Docker Image
Running the Docker Container
ROS2 Humble
Building the Docker Image
Running the Docker Container
Examples
ROS1 Examples
ANYmal Example
Excavator Example
SuperMegaBot Example
Ground Generation Example
Other Examples
ROS2 Examples
SuperMegaBot ROS2 Example
Fused Measurements
Running
Configuration
Differences from the ROS1 Version
Building Documentation
Automatic Build (Default)
Manual Build (Local)
Read The Docs
Building
Doxygen
Holistic Fusion
Index
Index