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@@ -20,6 +20,8 @@ Cartographer ROS Integration
    :maxdepth: 2
    :hidden:
 
+   options
+
 `Cartographer`_ is a system that provides real-time simultaneous localization
 and mapping `SLAM`_ across multiple platforms and sensor configurations. This
 project provides Cartographer's ROS integration.
diff --git a/docs/source/options.rst b/docs/source/options.rst
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@@ -0,0 +1,118 @@
+.. 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