119 lines
4.8 KiB
ReStructuredText
119 lines
4.8 KiB
ReStructuredText
|
.. 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.
|
||
|
|
|
||
|
|
=======================
|
||
|
|
Configuration Reference
|
||
|
|
=======================
|
||
|
|
|
||
|
|
Note that Cartographer's ROS integration uses `tf2`_, thus all frame IDs are
|
||
|
|
expected to contain only a frame name (lower-case with underscores) and no
|
||
|
|
prefix or slashes. See `REP 105`_ for commonly used coordinate frames.
|
||
|
|
|
||
|
|
Note that topic names are given as *base* names (see `ROS Names`_) in
|
||
|
|
Cartographer's ROS integration. This means it is up to the user of the
|
||
|
|
Cartographer node to remap, or put them into a namespace.
|
||
|
|
|
||
|
|
The following are Cartographer's ROS integration top-level options, all of which
|
||
|
|
must be specified in the Lua configuration file:
|
||
|
|
|
||
|
|
map_frame
|
||
|
|
The ROS frame ID to use for publishing submaps, the parent frame of poses,
|
||
|
|
usually "map".
|
||
|
|
|
||
|
|
tracking_frame
|
||
|
|
The ROS frame ID of the frame that is tracked by the SLAM algorithm. If an IMU
|
||
|
|
is used, it should be at its position, although it might be rotated. A common
|
||
|
|
choice is "imu_link".
|
||
|
|
|
||
|
|
published_frame
|
||
|
|
The ROS frame ID to use as the child frame for publishing poses. For example
|
||
|
|
"odom" if an "odom" frame is supplied by a different part of the system. In
|
||
|
|
this case the pose of "odom" in the *map_frame* will be published. Otherwise,
|
||
|
|
setting it to "base_link" is likely appropriate.
|
||
|
|
|
||
|
|
odom_frame
|
||
|
|
Only used if *provide_odom_frame* is true. The frame between *published_frame*
|
||
|
|
and *map_frame* to be used for publishing the (non-loop-closed) local SLAM
|
||
|
|
result. Usually "odom".
|
||
|
|
|
||
|
|
provide_odom_frame
|
||
|
|
If enabled, the local, non-loop-closed, continuous pose will be published as
|
||
|
|
the *odom_frame* in the *map_frame*.
|
||
|
|
|
||
|
|
use_odometry_data
|
||
|
|
If enabled, subscribes to `nav_msgs::Odometry`_ on the topic "odom". Odometry
|
||
|
|
must be provided in this case, and the information will be included in SLAM.
|
||
|
|
|
||
|
|
use_constant_odometry_variance
|
||
|
|
If enabled, the configured variances will be used instead of the ones provided
|
||
|
|
in the Odometry messages.
|
||
|
|
|
||
|
|
constant_odometry_translational_variance
|
||
|
|
The variance to use for the translational component of odometry to use if
|
||
|
|
*use_constant_odometry_variance* is enabled.
|
||
|
|
|
||
|
|
constant_odometry_rotational_variance
|
||
|
|
The variance to use for the rotational component of odometry to use if
|
||
|
|
*use_constant_odometry_variance* is enabled.
|
||
|
|
|
||
|
|
publish_occupancy_grid
|
||
|
|
If enabled, a background thread will continuously compute and publish
|
||
|
|
`nav_msgs::OccupancyGrid`_ messages on the "map" topic. Depending on the size
|
||
|
|
of the map, it can take a few seconds between updates.
|
||
|
|
|
||
|
|
use_horizontal_laser
|
||
|
|
If enabled, the node subscribes to `sensor_msgs::LaserScan`_ on the "scan"
|
||
|
|
topic. If 2D SLAM is used, either this or *use_horizontal_multi_echo_laser*
|
||
|
|
must be enabled.
|
||
|
|
|
||
|
|
use_horizontal_multi_echo_laser
|
||
|
|
If enabled, the node subscribes to `sensor_msgs::MultiEchoLaserScan`_ on the
|
||
|
|
"echoes" topic. If 2D SLAM is used, either this or *use_horizontal_laser*
|
||
|
|
must be enabled.
|
||
|
|
|
||
|
|
horizontal_laser_min_range
|
||
|
|
Range in meters below which laser returns are ignored for the purpose of SLAM.
|
||
|
|
|
||
|
|
horizontal_laser_max_range
|
||
|
|
Range in meters above which laser returns are ignored for the purpose of SLAM.
|
||
|
|
|
||
|
|
horizontal_laser_missing_echo_ray_length
|
||
|
|
Range in meters to use for inserting free space when no laser return was
|
||
|
|
detected.
|
||
|
|
|
||
|
|
num_lasers_3d
|
||
|
|
Number of 3D lasers to subscribe to. Must be a positive value if and only if
|
||
|
|
using 3D SLAM. Subscribes to `sensor_msgs::PointCloud2`_ on the "points2"
|
||
|
|
topic for one laser, or topics "points2_1", "points2_2", etc for multiple
|
||
|
|
lasers.
|
||
|
|
|
||
|
|
lookup_transform_timeout_sec
|
||
|
|
Timeout in seconds to use for looking up transforms using `tf2`_.
|
||
|
|
|
||
|
|
submap_publish_period_sec
|
||
|
|
Interval in seconds at which to publish the submap poses, e.g. 0.3 seconds.
|
||
|
|
|
||
|
|
pose_publish_period_sec
|
||
|
|
Interval in seconds at which to publish poses, e.g. 5e-3 for a frequency of
|
||
|
|
200 Hz.
|
||
|
|
|
||
|
|
.. _REP 105: http://www.ros.org/reps/rep-0105.html
|
||
|
|
.. _ROS Names: http://wiki.ros.org/Names
|
||
|
|
.. _nav_msgs::OccupancyGrid: http://docs.ros.org/api/nav_msgs/html/msg/OccupancyGrid.html
|
||
|
|
.. _nav_msgs::Odometry: http://docs.ros.org/api/nav_msgs/html/msg/Odometry.html
|
||
|
|
.. _sensor_msgs::LaserScan: http://docs.ros.org/api/sensor_msgs/html/msg/LaserScan.html
|
||
|
|
.. _sensor_msgs::MultiEchoLaserScan: http://docs.ros.org/api/sensor_msgs/html/msg/MultiEchoLaserScan.html
|
||
|
|
.. _sensor_msgs::PointCloud2: http://docs.ros.org/api/sensor_msgs/html/msg/PointCloud2.html
|
||
|
|
.. _tf2: http://wiki.ros.org/tf2
|