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SLAM messages: map, pose and control for a mapping sensor - #325

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sonar3d-slam

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SLAM messages: map, pose and control for a mapping sensor#325
follesoe wants to merge 30 commits into
masterfrom
sonar3d-slam

Commits on Nov 3, 2026
- Add sonar SLAM pose, map and shot messages
  
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  d506115
- Add the sonar's field of view and range to SlamShot
  
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  51ba7f1
- Make the SLAM messages sensor-neutral, publish the map on the SLAM stream
  
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  8f5a099
Commits on Nov 4, 2026
- Add requests to start and stop the SLAM, and its state
  
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  8e2d416
- Add the SLAM sensor's settings, starting with a 3D sonar's mode and range
  
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- Add the drone's pose and the mount's tilt to the SLAM estimate
  
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- Say what the SLAM's poses, settings and start mean exactly
  
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- SLAM recording and frequency reset messages
  
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- SLAM map frame and the drone's pose on keyframes
  
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  4cad2a1
Commits on Nov 5, 2026
- SLAM poses are the platform's, with each sensor's mount and id
  
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Commits on Nov 6, 2026
- DvlVelocity: the velocity's y is right, not left
  
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- Keep SONAR_3D in the sonar frequency mode's values for protolint
  
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Commits on Nov 7, 2026
- CI: prereleases of the TypeScript package from sonar3d-slam
  
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- SLAM: loop closures in the map updates and the map
  
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  ba63462
- SLAM: sensor device ids, scan times, settings per sensor
  
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Commits on Nov 8, 2026
- SLAM: review fixes
  
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Commits on Nov 10, 2026
- SLAM: no reserved fields before the first release
  
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- SLAM: a map in parts, packed moves, and room to replace and remove
  
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- SLAM: renumber the fields after the dropped ones
  
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  f08fa80
- SlamSensor: a sensor keeps its id while it is connected
  
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  ab0fe42
- SLAM: catch up from recent updates, submap content, frame in the status
  
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  69e4406
- SLAM: sensor_type, where the SLAM publishes, whole submaps in parts
  
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  32827e4
- SLAM: map_id is 0 when the SLAM has no map
  
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  7eed67c
Commits on Nov 11, 2026
- SLAM: SlamSubmap numbered in order, no reserved sensor type
  
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  94c0f49
- SLAM: status sequence and aiding, pose keyframe, why a request failed
  
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  c3078c0
- SLAM: a sensor's new settings keep the map
  
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- SLAM: an empty sensor id fits only one sensor of the kind
  
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  5414815
- SLAM: NO_SUCH_SENSOR's comment on its own line (protolint)
  
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Commits on Nov 13, 2026
- SLAM: a map's singular fields come from its first part; a breaking-change check in CI
  
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- SLAM: every part of a map has its map_id, sequence and part_count
  
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  21ad076

Commits

Commits on Nov 3, 2026

Commits on Nov 4, 2026

Commits on Nov 5, 2026

Commits on Nov 6, 2026

Commits on Nov 7, 2026

Commits on Nov 8, 2026

Commits on Nov 10, 2026

Commits on Nov 11, 2026

Commits on Nov 13, 2026