Vivek Mhatre

# Description Fixes ghost obstacles in traversability layer by applying morphological transforms. This PR does the following: - Fixes ghost obstacles in traversability layer Fixes #836 # Testing steps (If...

As detailed in #886 the traversability layer has an issue when going down inclines. When the robot is at a certain elevation it does not understand why going off a...

# Description Uses the GTSAM library to implement 3D localization using a factor graph. GPS coordinates, IMU measurements, magnetometer measurements, and wheel odometry measurements are continually integrated into the factor...

Currently we have a very [simple PID controller](https://github.com/RoboJackets/igvc-software/blob/ee75d6a0cb1e3ac10f7da5dcea87ff0b9cfdf2ff/igvc_gazebo/nodes/swerve_control/swerve_control.cpp#L105-L112) in the gazebo swerve control node. It would be nice to improve this controller to include features such as a [low pass...

AC: The `igvc_utils/speed_compare` node should be split into a header and cpp file, with the cpp file containing member function implementations as well as the main function, and retain functionality...

With the `traversability_layer` costmap plugin implemented in #672, we can traverse uneven terrain by creating a costmap based on the slope of the surrounding area. However, after implementing 3D localization,...

AC: Create a new node similar to the `igvc_utils/speed_compare` node that works with Swervi's actuators.

AC: The `igvc_utils/quaternion_to_rpy` node should be split into a header and cpp file, with the cpp file containing member function implementations as well as the main function, and retain functionality...

This is what the multiclass segmentation output currently looks like: - [https://www.dropbox.com/s/yuv4jou4ch4uqla/multiclassSegmentation.webm?dl=0](https://www.dropbox.com/s/yuv4jou4ch4uqla/multiclassSegmentation.webm?dl=0) The output looks a bit choppy and I'm not sure if this is due to the GPU the...

For some reason, the magnetometer is not integrated in our localization node, the [`ekf_localization_node`](https://github.com/RoboJackets/igvc-software/blob/54204bcedf5c579ace3335cc90eb885ead900ac1/igvc_navigation/config/ekf_localization_node_params.yaml). It is important to integrate the magnetometer measurements in order to ensure more accurate state estimation....