Usage of flat_earther

[tahakenar]

I am trying to use flat_earther extension with GLIM using ROS Noetic. I installed and built glim_ext with only option(ENABLE_FLATEARTHER "Enable flat earth assumption module" ON) option set to ON, others to OFF. glim_rosnode logs that it can find config_ext_path correctly yet no explanatory logs can be seen. Could not figure out how to make it work.

[ INFO] [1731407043.174297141]: Starting GLIM
[2024-11-12 13:24:03.176] [info] register linearization hooks
[2024-11-12 13:24:03.176] [info] config_path: /opt/ros/noetic/share/glim/config
[2024-11-12 13:24:03.177] [info] load libodometry_estimation_cpu.so
[2024-11-12 13:24:03.178] [info] load libsub_mapping.so
[2024-11-12 13:24:03.178] [warning] param sub_mapping/submap_target_num_points not found
[2024-11-12 13:24:03.178] [warning] use default_value=-1
[2024-11-12 13:24:03.178] [info] load libglobal_mapping.so
[2024-11-12 13:24:03.178] [warning] param global_mapping/submap_voxel_resolution_max not found
[2024-11-12 13:24:03.178] [warning] use default_value=0.5
[2024-11-12 13:24:03.178] [warning] param global_mapping/submap_voxel_resolution_dmin not found
[2024-11-12 13:24:03.178] [warning] use default_value=5.0
[2024-11-12 13:24:03.178] [warning] param global_mapping/submap_voxel_resolution_dmax not found
[2024-11-12 13:24:03.178] [warning] use default_value=20.0
[2024-11-12 13:24:03.178] [warning] Extension modules are enabled!!
[2024-11-12 13:24:03.178] [warning] You must carefully check and follow the licenses of ext modules
[2024-11-12 13:24:03.178] [info] config_ext_path: /home/delivers33/delivers_playground/indoor_development_ws/src/glim_ext/config
[2024-11-12 13:24:03.178] [info] load libmemory_monitor.so
[2024-11-12 13:24:03.179] [info] load libstandard_viewer.so
[2024-11-12 13:24:03.183] [info] load librviz_viewer.so
[2024-11-12 13:45:34.636] [info] waiting for odometry estimation
[2024-11-12 13:45:34.637] [info] waiting for local mapping
[2024-11-12 13:45:34.638] [info] waiting for global mapping
[2024-11-12 13:45:34.653] [global] [info] saving to /tmp/dump...
[2024-11-12 13:45:34.653] [global] [info] serializing factor graph to /tmp/dump/graph.bin
[2024-11-12 13:45:34.654] [global] [info] saving config
[2024-11-12 13:45:34.655] [global] [info] saved

A better explanation in README for usage of extensions can be provided. At least I and #16 were not able to run them :)

[koide3]

I added a brief instruction to enable an extension module here.