Ekf slam cpp

.gitignore

@@ -1,9 +1,11 @@
 # IDE stuff
 **/.vscode/
 **/.idea/
+**/.dbus/
 ./CMakeLists.txt  # top level cmake files can help with autocompletion, but should not be in repo
 ./driverless_ws/CMakeLists.txt
 **/CMakeCache.txt
+
 # ROS Stuff
 **/build/
 **/install/

docker/simulator/log/build_2023-10-04_15-10-56/events.log

@@ -0,0 +1,2 @@
+[0.000000] (-) TimerEvent: {}
+[0.000073] (-) EventReactorShutdown: {}

docker/simulator/log/build_2023-10-04_15-10-56/logger_all.log

@@ -0,0 +1,62 @@
+[0.876s] DEBUG:colcon:Command line arguments: ['/usr/bin/colcon', 'build']
+[0.876s] DEBUG:colcon:Parsed command line arguments: Namespace(allow_overriding=[], ament_cmake_args=None, base_paths=['.'], build_base='build', catkin_cmake_args=None, catkin_skip_building_tests=False, cmake_args=None, cmake_clean_cache=False, cmake_clean_first=False, cmake_force_configure=False, cmake_target=None, cmake_target_skip_unavailable=False, continue_on_error=False, event_handlers=None, executor='parallel', ignore_user_meta=False, install_base='install', log_base=None, log_level=None, main=<bound method BuildVerb.main of <colcon_core.verb.build.BuildVerb object at 0x7f87f970e490>>, merge_install=False, metas=['./colcon.meta'], packages_above=None, packages_above_and_dependencies=None, packages_above_depth=None, packages_end=None, packages_ignore=None, packages_ignore_regex=None, packages_select=None, packages_select_build_failed=False, packages_select_by_dep=None, packages_select_regex=None, packages_select_test_failures=False, packages_skip=None, packages_skip_build_finished=False, packages_skip_by_dep=None, packages_skip_regex=None, packages_skip_test_passed=False, packages_skip_up_to=None, packages_start=None, packages_up_to=None, packages_up_to_regex=None, parallel_workers=24, paths=None, symlink_install=False, test_result_base=None, verb_extension=<colcon_core.verb.build.BuildVerb object at 0x7f87f970e490>, verb_name='build', verb_parser=<colcon_defaults.argument_parser.defaults.DefaultArgumentsDecorator object at 0x7f87f970e9a0>)
+[0.937s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) check parameters
+[0.937s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) check parameters
+[0.937s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) check parameters
+[0.937s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) check parameters
+[0.937s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) discover
+[0.938s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) discover
+[0.938s] INFO:colcon.colcon_core.package_discovery:Crawling recursively for packages in '/home/dale/driverless/docker/simulator'
+[0.938s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ignore', 'ignore_ament_install']
+[0.938s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore'
+[0.938s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore_ament_install'
+[0.938s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_pkg']
+[0.938s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_pkg'
+[0.938s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_meta']
+[0.938s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_meta'
+[0.938s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ros']
+[0.938s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ros'
+[0.947s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['cmake', 'python']
+[0.947s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'cmake'
+[0.947s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'python'
+[0.947s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['python_setup_py']
+[0.947s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'python_setup_py'
+[0.947s] Level 1:colcon.colcon_core.package_identification:_identify(build) by extensions ['ignore', 'ignore_ament_install']
+[0.948s] Level 1:colcon.colcon_core.package_identification:_identify(build) by extension 'ignore'
+[0.948s] Level 1:colcon.colcon_core.package_identification:_identify(build) ignored
+[0.948s] Level 1:colcon.colcon_core.package_identification:_identify(install) by extensions ['ignore', 'ignore_ament_install']
+[0.948s] Level 1:colcon.colcon_core.package_identification:_identify(install) by extension 'ignore'
+[0.948s] Level 1:colcon.colcon_core.package_identification:_identify(install) ignored
+[0.948s] Level 1:colcon.colcon_core.package_identification:_identify(log) by extensions ['ignore', 'ignore_ament_install']
+[0.948s] Level 1:colcon.colcon_core.package_identification:_identify(log) by extension 'ignore'
+[0.948s] Level 1:colcon.colcon_core.package_identification:_identify(log) ignored
+[0.948s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) using defaults
+[0.948s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) discover
+[0.948s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) using defaults
+[0.948s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) discover
+[0.948s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) using defaults
+[1.032s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) check parameters
+[1.032s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) discover
+[1.062s] DEBUG:colcon.colcon_installed_package_information.package_discovery:Found 268 installed packages in /opt/ros/foxy
+[1.063s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) using defaults
+[1.136s] INFO:colcon.colcon_core.executor:Executing jobs using 'parallel' executor
+[1.150s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete
+[1.150s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:closing loop
+[1.150s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:loop closed
+[1.150s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete finished with '0'
+[1.150s] DEBUG:colcon.colcon_core.event_reactor:joining thread
+[1.168s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.terminal_notifier': Not used on non-Darwin systems
+[1.168s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.win32': Not used on non-Windows systems
+[1.168s] INFO:colcon.colcon_notification.desktop_notification:Sending desktop notification using 'notify2'
+[1.182s] DEBUG:colcon.colcon_core.event_reactor:joined thread
+[1.202s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_core.shell.bat': Not used on non-Windows systems
+[1.202s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/dale/driverless/docker/simulator/install/local_setup.ps1'
+[1.202s] INFO:colcon.colcon_core.shell:Creating prefix util module '/home/dale/driverless/docker/simulator/install/_local_setup_util_ps1.py'
+[1.203s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/dale/driverless/docker/simulator/install/setup.ps1'
+[1.218s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/dale/driverless/docker/simulator/install/local_setup.sh'
+[1.218s] INFO:colcon.colcon_core.shell:Creating prefix util module '/home/dale/driverless/docker/simulator/install/_local_setup_util_sh.py'
+[1.219s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/dale/driverless/docker/simulator/install/setup.sh'
+[1.233s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/dale/driverless/docker/simulator/install/local_setup.bash'
+[1.234s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/dale/driverless/docker/simulator/install/setup.bash'
+[1.248s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/dale/driverless/docker/simulator/install/local_setup.zsh'
+[1.249s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/dale/driverless/docker/simulator/install/setup.zsh'

docker/simulator/log/build_2023-10-23_21-33-42/events.log

@@ -0,0 +1,2 @@
+[0.000000] (-) TimerEvent: {}
+[0.000302] (-) EventReactorShutdown: {}

docker/simulator/log/build_2023-10-23_21-33-42/logger_all.log

@@ -0,0 +1,62 @@
+[1.102s] DEBUG:colcon:Command line arguments: ['/usr/bin/colcon', 'build']
+[1.102s] DEBUG:colcon:Parsed command line arguments: Namespace(allow_overriding=[], ament_cmake_args=None, base_paths=['.'], build_base='build', catkin_cmake_args=None, catkin_skip_building_tests=False, cmake_args=None, cmake_clean_cache=False, cmake_clean_first=False, cmake_force_configure=False, cmake_target=None, cmake_target_skip_unavailable=False, continue_on_error=False, event_handlers=None, executor='parallel', ignore_user_meta=False, install_base='install', log_base=None, log_level=None, main=<bound method BuildVerb.main of <colcon_core.verb.build.BuildVerb object at 0x7fe5ec4987f0>>, merge_install=False, metas=['./colcon.meta'], packages_above=None, packages_above_and_dependencies=None, packages_above_depth=None, packages_end=None, packages_ignore=None, packages_ignore_regex=None, packages_select=None, packages_select_build_failed=False, packages_select_by_dep=None, packages_select_regex=None, packages_select_test_failures=False, packages_skip=None, packages_skip_build_finished=False, packages_skip_by_dep=None, packages_skip_regex=None, packages_skip_test_passed=False, packages_skip_up_to=None, packages_start=None, packages_up_to=None, packages_up_to_regex=None, parallel_workers=24, paths=None, symlink_install=False, test_result_base=None, verb_extension=<colcon_core.verb.build.BuildVerb object at 0x7fe5ec4987f0>, verb_name='build', verb_parser=<colcon_defaults.argument_parser.defaults.DefaultArgumentsDecorator object at 0x7fe5ec499790>)
+[1.150s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) check parameters
+[1.150s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) check parameters
+[1.150s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) check parameters
+[1.150s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) check parameters
+[1.150s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) discover
+[1.150s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) discover
+[1.150s] INFO:colcon.colcon_core.package_discovery:Crawling recursively for packages in '/home/dale/driverless/docker/simulator'
+[1.150s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ignore', 'ignore_ament_install']
+[1.150s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore'
+[1.150s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore_ament_install'
+[1.150s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_pkg']
+[1.150s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_pkg'
+[1.150s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_meta']
+[1.150s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_meta'
+[1.150s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ros']
+[1.150s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ros'
+[1.155s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['cmake', 'python']
+[1.155s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'cmake'
+[1.155s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'python'
+[1.155s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['python_setup_py']
+[1.155s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'python_setup_py'
+[1.155s] Level 1:colcon.colcon_core.package_identification:_identify(build) by extensions ['ignore', 'ignore_ament_install']
+[1.155s] Level 1:colcon.colcon_core.package_identification:_identify(build) by extension 'ignore'
+[1.155s] Level 1:colcon.colcon_core.package_identification:_identify(build) ignored
+[1.155s] Level 1:colcon.colcon_core.package_identification:_identify(install) by extensions ['ignore', 'ignore_ament_install']
+[1.155s] Level 1:colcon.colcon_core.package_identification:_identify(install) by extension 'ignore'
+[1.155s] Level 1:colcon.colcon_core.package_identification:_identify(install) ignored
+[1.156s] Level 1:colcon.colcon_core.package_identification:_identify(log) by extensions ['ignore', 'ignore_ament_install']
+[1.156s] Level 1:colcon.colcon_core.package_identification:_identify(log) by extension 'ignore'
+[1.156s] Level 1:colcon.colcon_core.package_identification:_identify(log) ignored
+[1.156s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) using defaults
+[1.156s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) discover
+[1.156s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) using defaults
+[1.156s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) discover
+[1.156s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) using defaults
+[1.255s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) check parameters
+[1.255s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) discover
+[1.293s] DEBUG:colcon.colcon_installed_package_information.package_discovery:Found 268 installed packages in /opt/ros/foxy
+[1.294s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) using defaults
+[1.362s] INFO:colcon.colcon_core.executor:Executing jobs using 'parallel' executor
+[1.381s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete
+[1.381s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:closing loop
+[1.381s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:loop closed
+[1.381s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete finished with '0'
+[1.381s] DEBUG:colcon.colcon_core.event_reactor:joining thread
+[1.402s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.terminal_notifier': Not used on non-Darwin systems
+[1.402s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.win32': Not used on non-Windows systems
+[1.402s] INFO:colcon.colcon_notification.desktop_notification:Sending desktop notification using 'notify2'
+[1.410s] DEBUG:colcon.colcon_core.event_reactor:joined thread
+[1.430s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_core.shell.bat': Not used on non-Windows systems
+[1.430s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/dale/driverless/docker/simulator/install/local_setup.ps1'
+[1.431s] INFO:colcon.colcon_core.shell:Creating prefix util module '/home/dale/driverless/docker/simulator/install/_local_setup_util_ps1.py'
+[1.431s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/dale/driverless/docker/simulator/install/setup.ps1'
+[1.450s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/dale/driverless/docker/simulator/install/local_setup.sh'
+[1.450s] INFO:colcon.colcon_core.shell:Creating prefix util module '/home/dale/driverless/docker/simulator/install/_local_setup_util_sh.py'
+[1.450s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/dale/driverless/docker/simulator/install/setup.sh'
+[1.469s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/dale/driverless/docker/simulator/install/local_setup.bash'
+[1.469s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/dale/driverless/docker/simulator/install/setup.bash'
+[1.488s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/dale/driverless/docker/simulator/install/local_setup.zsh'
+[1.488s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/dale/driverless/docker/simulator/install/setup.zsh'

docker/simulator/start_docker_ubuntu.txt

@@ -1,2 +1,6 @@
 xhost +
+<<<<<<< HEAD
+sudo docker run -it --rm --privileged --net=host -v $PWD/../..:/driverless -e DISPLAY=$DISPLAY akhandelwal2025/eufs:latest
+=======
 sudo docker run -it --rm --privileged --net=host -v $PWD/../..:/driverless -e DISPLAY=$DISPLAY eufs:latest
+>>>>>>> main