From 0a917893c525b2641415780903449a3803a4caed Mon Sep 17 00:00:00 2001
From: Guilherme Lawless <guilherme.lawless@tecnico.ulisboa.pt>
Date: Fri, 20 Apr 2018 00:32:19 +0100
Subject: [PATCH] Add a launch and configuration file for writing a ROS map
 (#577) (#721)

( Trying again, accidentally deleted source branch for previous PR )

Related issue: #577

The min/max range default to the same as the backback_2d examples; same thing for the URDF file.

However, the name of both the config file and the launch file are kept generic.
---
 .../assets_writer_ros_map.lua                 | 36 +++++++++++++++++++
 .../launch/assets_writer_ros_map.launch       | 33 +++++++++++++++++
 2 files changed, 69 insertions(+)
 create mode 100644 cartographer_ros/configuration_files/assets_writer_ros_map.lua
 create mode 100644 cartographer_ros/launch/assets_writer_ros_map.launch

diff --git a/cartographer_ros/configuration_files/assets_writer_ros_map.lua b/cartographer_ros/configuration_files/assets_writer_ros_map.lua
new file mode 100644
index 0000000..faa92e6
--- /dev/null
+++ b/cartographer_ros/configuration_files/assets_writer_ros_map.lua
@@ -0,0 +1,36 @@
+-- Copyright 2018 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.
+
+options = {
+  tracking_frame = "base_link",
+  pipeline = {
+    {
+      action = "min_max_range_filter",
+      min_range = 1.,
+      max_range = 60.,
+    },
+    {
+      action = "write_ros_map",
+      range_data_inserter = {
+        insert_free_space = true,
+        hit_probability = 0.55,
+        miss_probability = 0.49,
+      },
+      filestem = "map",
+      resolution = 0.05,
+    }
+  }
+}
+
+return options
diff --git a/cartographer_ros/launch/assets_writer_ros_map.launch b/cartographer_ros/launch/assets_writer_ros_map.launch
new file mode 100644
index 0000000..81723e7
--- /dev/null
+++ b/cartographer_ros/launch/assets_writer_ros_map.launch
@@ -0,0 +1,33 @@
+<!--
+  Copyright 2018 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.
+-->
+
+<!--
+  Using this will generate one .pgm and one .yaml file that together
+  form the typical occupancy grid ROS map.
+  The files will be placed in the same directory of the bag file.
+  Remember to change configuration in the lua config_file.
+-->
+
+<launch>
+  <arg name="urdf_filename" default="$(find cartographer_ros)/urdf/backback_2d.urdf"/> 
+
+  <node name="cartographer_assets_writer" pkg="cartographer_ros" required="true"
+      type="cartographer_assets_writer" args="
+          -configuration_directory $(find cartographer_ros)/configuration_files
+          -configuration_basename assets_writer_ros_map.lua
+          -urdf_filename $(arg urdf_filename)
+          -bag_filenames $(arg bag_filenames)
+          -pose_graph_filename $(arg pose_graph_filename)"
+      output="screen">
+  </node>
+</launch>