added hector, cartographer launch

[ros_wild_thumper.git] / config / cartographer.lua

diff --git a/config/cartographer.lua b/config/cartographer.lua
new file mode 100644 (file)
index 0000000..fdc1de6
--- /dev/null
+++ b/config/cartographer.lua
@@ -0,0 +1,52 @@
+-- Copyright 2016 The Cartographer Authors
+--
+-- Licensed under the Apache License, Version 2.0 (the "License");
+-- you may not use this file except in compliance with the License.
+-- You may obtain a copy of the License at
+--
+--      http://www.apache.org/licenses/LICENSE-2.0
+--
+-- Unless required by applicable law or agreed to in writing, software
+-- distributed under the License is distributed on an "AS IS" BASIS,
+-- WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+-- See the License for the specific language governing permissions and
+-- limitations under the License.
+
+include "map_builder.lua"
+
+options = {
+  map_builder = MAP_BUILDER,
+  map_frame = "map",
+  tracking_frame = "base_imu_link",
+  published_frame = "base_link",
+  odom_frame = "odom",
+  provide_odom_frame = false,
+  use_odometry = true,
+  use_laser_scan = true,
+  use_multi_echo_laser_scan = false,
+  num_point_clouds = 0,
+  lookup_transform_timeout_sec = 0.2,
+  submap_publish_period_sec = 0.3,
+  pose_publish_period_sec = 5e-3,
+}
+
+MAP_BUILDER.use_trajectory_builder_2d = true
+
+TRAJECTORY_BUILDER_2D.laser_min_range = 0.4
+TRAJECTORY_BUILDER_2D.laser_max_range = 3.5
+TRAJECTORY_BUILDER_2D.laser_missing_echo_ray_length = 2.0
+TRAJECTORY_BUILDER_2D.use_imu_data = true
+TRAJECTORY_BUILDER_2D.motion_filter.max_time_seconds = 0.3
+TRAJECTORY_BUILDER_2D.motion_filter.max_distance_meters = 0.2
+TRAJECTORY_BUILDER_2D.motion_filter.max_angle_radians = math.rad(3.)
+TRAJECTORY_BUILDER_2D.ceres_scan_matcher.translation_weight = 70
+TRAJECTORY_BUILDER_2D.ceres_scan_matcher.rotation_weight = 300
+
+TRAJECTORY_BUILDER_2D.submaps.resolution = 0.035
+TRAJECTORY_BUILDER_2D.submaps.num_laser_fans = 120
+SPARSE_POSE_GRAPH.optimize_every_n_scans = 120
+SPARSE_POSE_GRAPH.constraint_builder.min_score = 0.82
+SPARSE_POSE_GRAPH.constraint_builder.sampling_ratio = 1.
+SPARSE_POSE_GRAPH.constraint_builder.ceres_scan_matcher.covariance_scale = 3e-5
+
+return options