Updating wiki

Author: smauq

docs/conf.py

@@ -20,7 +20,7 @@
 
 # Check https://holzhaus.github.io/sphinx-multiversion/master/configuration.html#tag-branch-remote-whitelists
 smv_tag_whitelist = None  # Include no tags
-smv_branch_whitelist = r'^(develop)$'  # Include develop  branch
+smv_branch_whitelist = r'^(master|develop)$'  # Include develop  branch
 smv_remote_whitelist = r'^(origin|upstream)$'  # Use origin and upstream
 
 extensions = [

docs/index.rst

@@ -21,7 +21,7 @@
    :glob:
 
    pages/installation/*
-   
+
 .. toctree::
    :maxdepth: 1
    :caption: Datasets
@@ -53,6 +53,14 @@
    pages/tutorials-maplab/use-cases/*
 
 
+.. toctree::
+   :maxdepth: 1
+   :caption: Tutorials for using maplab server (Online)
+   :glob:
+
+   pages/tutorials-maplab-server/*
+
+
 .. toctree::
    :maxdepth: 1
    :caption: Hardware integration and sensor calibration

docs/pages/tutorials-maplab-server/B_Euroc_Experiment.md

@@ -0,0 +1,17 @@
+## Maplab Server Euroc Experiment
+
+In this tutorial we will use the maplab server to online build and optimize a map with five robots running the mapping node. For this purpose we will use five recordings from the EuRoC dataset that happened in the same environment.
+
+The necessary launch files are already provided [here](https://github.com/ethz-asl/maplab/tree/master/applications/maplab-server-node/launch/euroc).
+
+## Setting up
+Download the five rosbags from the Machine Hall section in the [EuRoC dataset](https://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets) and place them in a folder. Afterwards change this [line](https://github.com/ethz-asl/maplab/blob/d00bc1ba35f9ed05713cdaaf2fa125d375cd2e70/applications/maplab-server-node/launch/euroc/euroc-maplab-server-robots.launch#L5) of the launch file to point to the folder where the bag files are stored.
+
+For visualization purposes you can open RViz and load the provided [config file](https://github.com/ethz-asl/maplab/blob/master/applications/maplab-server-node/launch/euroc/ros/euroc-maplab-server-minimal.rviz).
+
+## Starting the experiment
+In one terminal first start the server by running `roslaunch maplab_server euroc-maplab-server-base-station.launch`. The server will periodically output a status update on the current situation regarding received maps.
+
+In a separate terminal start up all five robots by running `roslaunch maplab_server euroc-maplab-server-robots.launch`. After the first set of submaps is transmitted (approx. 20 seconds) you should start seeing output in RViz. As the robots further explore their environment the maps will get merged into one global map.
+
+When the robots are done the server will continue optimizing the global map. To force it to save the map you can run a service call in a separate terminal `rosservice call /maplab_server/save_map`. The merged map can then be loaded from the console from the default directory which is `/tmp/maplab_server/merged_map`.

docs/pages/tutorials-maplab/use-cases/D_External_Features.md

@@ -0,0 +1,13 @@
+## External Features
+
+The maplab framework now supports the addition of external visual features. This is done through the interfaces defined in this [message](https://github.com/ethz-asl/maplab_msgs/blob/487fea2827ecabc30092586d7d3c295f9159a742/msg/Features.msg).
+
+
+### Setting up
+
+To notify the maplab node to expect external features, one has to modify the calibration file to add a new type of external features sensor. An example of how this is done for the HITLI datasets is shown [here](https://github.com/ethz-asl/maplab/blob/master/maplab-launch/config/hilti/calib/stick-sensors-2021.yaml).
+
+In parallel with maplab one can then run the external features detection module which is implemented [here](https://github.com/ethz-asl/maplab_features/tree/devel/extract_all). There are example launch files for various supported feature types:
+
+- [Surf features with LK tracking](https://github.com/ethz-asl/maplab_features/blob/devel/extract_all/launch/lk_surf.launch).
+- [SuperPoint with SuperGlue](https://github.com/ethz-asl/maplab_features/blob/devel/extract_all/launch/super.launch).