# This node publishes the transformation between the tracking and map # frames. map_frame: "map" tracking_frame: "base_link" # Lua configuration files are always searched in the cartographer # installation directory. We also ship configuration that work well for # the platforms that we used to collect our example data. You probably # want to add your own configuration overwrites in your own node # directories - you should add the path here as first entry then. configuration_files_directories: [ "$(find google_cartographer)/configuration_files" ] # Configuration file for SLAM. The settings in here are tweaked to the # collection platform you are using. mapping_configuration_basename: "backpack_3d.lua" imu_topic: "/imu" # Laser min and max range. Everything not in this range will not be used for mapping. laser_min_range_m: 0. laser_max_range_m: 30. # Missing laser echoes will be inserted as free space at this distance. laser_missing_echo_ray_length_m: 5. # Only choose one in the next parameter block # laser_scan_2d_topic: "/horizontal_2d_laser" # multi_echo_laser_scan_2d_topic: "/horizontal_multiecho_2d_laser" laser_scan_3d_topics: ["/horizontal_3d_laser", "/vertical_3d_laser"]