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-- 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"

include "trajectory_builder.lua"

options = {

  map_builder = MAP_BUILDER,

  trajectory_builder = TRAJECTORY_BUILDER,

  map_frame = "map",

  tracking_frame = "laser",

  published_frame = "laser",

  odom_frame = "odom",

  provide_odom_frame = true,

  use_odometry = false,

  num_laser_scans = 1,

  num_multi_echo_laser_scans = 0,

  num_subdivisions_per_laser_scan = 1,

  num_point_clouds = 0,

  lookup_transform_timeout_sec = 0.2,

  submap_publish_period_sec = 0.3,

  pose_publish_period_sec = 5e-3,

  trajectory_publish_period_sec = 30e-3,

  rangefinder_sampling_ratio = 1.,

  odometry_sampling_ratio = 1.,

  imu_sampling_ratio = 1.,

}

MAP_BUILDER.use_trajectory_builder_2d = true

TRAJECTORY_BUILDER_2D.submaps.num_range_data = 35

TRAJECTORY_BUILDER_2D.min_range = 0.3

TRAJECTORY_BUILDER_2D.max_range = 8.

TRAJECTORY_BUILDER_2D.missing_data_ray_length = 1.

TRAJECTORY_BUILDER_2D.use_imu_data = false

TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true

TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.linear_search_window = 0.1

TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.translation_delta_cost_weight = 10.

TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.rotation_delta_cost_weight = 1e-1

POSE_GRAPH.optimization_problem.huber_scale = 1e2

POSE_GRAPH.optimize_every_n_nodes = 35

POSE_GRAPH.constraint_builder.min_score = 0.65

return options

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<!--

  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.

-->

<launch>

  <param name="/use_sim_time" value="true" />

  <node name="cartographer_node" pkg="cartographer_ros"

      type="cartographer_node" args="

          -configuration_directory $(find cartographer_ros)/configuration_files

          -configuration_basename revo_lds_rplidar.lua"

      output="screen">

    <remap from="scan" to="scan" />

  </node>

  <node name="cartographer_occupancy_grid_node" pkg="cartographer_ros"

      type="cartographer_occupancy_grid_node" args="-resolution 0.05" />

  <node name="rviz" pkg="rviz" type="rviz" required="true"

      args="-d $(find cartographer_ros)/configuration_files/demo_2d.rviz" />

</launch>

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[email protected]:~$ cd ~/catkin_ws

[email protected]:~/catkin_ws$ catkin_make_isolated --install --use-ninja

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[email protected]:~$ roslaunch rplidar_ros rplidar.launch