New Cartographer API. (#157)

cartographer_ros/cartographer_ros/sensor_bridge.cc

@@ -40,13 +40,6 @@ const string& CheckNoLeadingSlash(const string& frame_id) {
 SensorBridgeOptions CreateSensorBridgeOptions(
     carto::common::LuaParameterDictionary* const lua_parameter_dictionary) {
   SensorBridgeOptions options;
-  options.horizontal_laser_min_range =
-      lua_parameter_dictionary->GetDouble("horizontal_laser_min_range");
-  options.horizontal_laser_max_range =
-      lua_parameter_dictionary->GetDouble("horizontal_laser_max_range");
-  options.horizontal_laser_missing_echo_ray_length =
-      lua_parameter_dictionary->GetDouble(
-          "horizontal_laser_missing_echo_ray_length");
   options.constant_odometry_translational_variance =
       lua_parameter_dictionary->GetDouble(
           "constant_odometry_translational_variance");
@@ -137,10 +130,11 @@ void SensorBridge::HandlePointCloud2Message(
 void SensorBridge::HandleLaserScanProto(
     const string& topic, const carto::common::Time time, const string& frame_id,
     const carto::sensor::proto::LaserScan& laser_scan) {
-  const auto laser_fan = carto::sensor::ToLaserFan(
-      laser_scan, options_.horizontal_laser_min_range,
-      options_.horizontal_laser_max_range,
-      options_.horizontal_laser_missing_echo_ray_length);
+  const carto::sensor::LaserFan laser_fan = {
+      Eigen::Vector3f::Zero(),
+      carto::sensor::ToPointCloud(laser_scan),
+      {},
+      {}};
   const auto sensor_to_tracking =
       tf_bridge_->LookupToTracking(time, CheckNoLeadingSlash(frame_id));
   if (sensor_to_tracking != nullptr) {

cartographer_ros/cartographer_ros/sensor_bridge.h

@@ -33,9 +33,6 @@
 namespace cartographer_ros {
 
 struct SensorBridgeOptions {
-  double horizontal_laser_min_range;
-  double horizontal_laser_max_range;
-  double horizontal_laser_missing_echo_ray_length;
   double constant_odometry_translational_variance;
   double constant_odometry_rotational_variance;
 };

cartographer_ros/configuration_files/backpack_2d.lua

@@ -17,9 +17,6 @@ include "map_builder.lua"
 options = {
   map_builder = MAP_BUILDER,
   sensor_bridge = {
-    horizontal_laser_min_range = 0.,
-    horizontal_laser_max_range = 30.,
-    horizontal_laser_missing_echo_ray_length = 5.,
     constant_odometry_translational_variance = 0.,
     constant_odometry_rotational_variance = 0.,
   },

cartographer_ros/configuration_files/backpack_3d.lua

@@ -17,9 +17,6 @@ include "map_builder.lua"
 options = {
   map_builder = MAP_BUILDER,
   sensor_bridge = {
-    horizontal_laser_min_range = 0.,
-    horizontal_laser_max_range = 30.,
-    horizontal_laser_missing_echo_ray_length = 5.,
     constant_odometry_translational_variance = 0.,
     constant_odometry_rotational_variance = 0.,
   },

cartographer_ros/configuration_files/pr2.lua

@@ -17,9 +17,6 @@ include "map_builder.lua"
 options = {
   map_builder = MAP_BUILDER,
   sensor_bridge = {
-    horizontal_laser_min_range = 0.,
-    horizontal_laser_max_range = 30.,
-    horizontal_laser_missing_echo_ray_length = 5.,
     constant_odometry_translational_variance = 0.,
     constant_odometry_rotational_variance = 0.,
   },
@@ -38,10 +35,12 @@ options = {
 }
 
 MAP_BUILDER.use_trajectory_builder_2d = true
+
 TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true
 TRAJECTORY_BUILDER_2D.use_imu_data = false
 TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.linear_search_window = 0.15
 TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.angular_search_window = math.rad(35.)
+
 SPARSE_POSE_GRAPH.optimization_problem.huber_scale = 1e2
 
 return options

cartographer_ros/configuration_files/revo_lds.lua

@@ -17,9 +17,6 @@ include "map_builder.lua"
 options = {
   map_builder = MAP_BUILDER,
   sensor_bridge = {
-    horizontal_laser_min_range = 0.3,
-    horizontal_laser_max_range = 8.,
-    horizontal_laser_missing_echo_ray_length = 1.,
     constant_odometry_translational_variance = 0.,
     constant_odometry_rotational_variance = 0.,
   },
@@ -38,8 +35,13 @@ options = {
 }
 
 MAP_BUILDER.use_trajectory_builder_2d = true
+
+TRAJECTORY_BUILDER_2D.laser_min_range = 0.3,
+TRAJECTORY_BUILDER_2D.laser_max_range = 8.,
+TRAJECTORY_BUILDER_2D.laser_missing_echo_ray_length = 1.,
 TRAJECTORY_BUILDER_2D.use_imu_data = false
 TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true
+
 SPARSE_POSE_GRAPH.optimization_problem.huber_scale = 1e2
 
 return options

docs/source/configuration.rst

@@ -71,16 +71,6 @@ use_horizontal_multi_echo_laser
   "echoes" topic. If 2D SLAM is used, either this or *use_horizontal_laser*
   must be enabled.
 
-sensor_bridge.horizontal_laser_min_range
-  Range in meters below which laser returns are ignored for the purpose of SLAM.
-
-sensor_bridge.horizontal_laser_max_range
-  Range in meters above which laser returns are ignored for the purpose of SLAM.
-
-sensor_bridge.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"