diff --git a/cartographer_ros/configuration_files/turtlebot.lua b/cartographer_ros/configuration_files/turtlebot.lua
index 0e76314..150839b 100644
--- a/cartographer_ros/configuration_files/turtlebot.lua
+++ b/cartographer_ros/configuration_files/turtlebot.lua
@@ -28,7 +28,7 @@ options = {
horizontal_laser_max_range = 30.,
horizontal_laser_missing_echo_ray_length = 5.,
num_lasers_3d = 0,
- lookup_transform_timeout_sec = 0.01,
+ lookup_transform_timeout_sec = 0.2,
submap_publish_period_sec = 0.3,
pose_publish_period_sec = 5e-3,
}
diff --git a/cartographer_ros/package.xml b/cartographer_ros/package.xml
index 8597fcd..6f2fb2a 100644
--- a/cartographer_ros/package.xml
+++ b/cartographer_ros/package.xml
@@ -74,6 +74,6 @@
rosunit
-
+
diff --git a/cartographer_ros/urdf/backpack_2d.urdf b/cartographer_ros/urdf/backpack_2d.urdf
index 33842d3..dcb4181 100644
--- a/cartographer_ros/urdf/backpack_2d.urdf
+++ b/cartographer_ros/urdf/backpack_2d.urdf
@@ -16,62 +16,62 @@
-
+
-
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diff --git a/cartographer_ros/urdf/backpack_3d.urdf b/cartographer_ros/urdf/backpack_3d.urdf
index 9b6a538..ac12ede 100644
--- a/cartographer_ros/urdf/backpack_3d.urdf
+++ b/cartographer_ros/urdf/backpack_3d.urdf
@@ -16,62 +16,62 @@
-
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diff --git a/cartographer_ros/urdf/turtlebot.urdf b/cartographer_ros/urdf/turtlebot.urdf
index dcaa328..56258a8 100644
--- a/cartographer_ros/urdf/turtlebot.urdf
+++ b/cartographer_ros/urdf/turtlebot.urdf
@@ -16,38 +16,53 @@
-
+
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diff --git a/cartographer_turtlebot/Dockerfile b/cartographer_turtlebot/Dockerfile
new file mode 100644
index 0000000..ab34cb5
--- /dev/null
+++ b/cartographer_turtlebot/Dockerfile
@@ -0,0 +1,23 @@
+# 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.
+
+FROM cartographer_ros_image
+RUN apt-get update && apt-get install -y \
+ ros-indigo-depthimage-to-laserscan \
+ ros-indigo-kobuki \
+ ros-indigo-kobuki-core \
+ ros-indigo-openni2-launch \
+ ros-indigo-turtlebot-bringup \
+ tmux \
+ && rm -rf /var/lib/apt/lists/*