From 3a413028d95ea548a2b4b1807282a36826846755 Mon Sep 17 00:00:00 2001
From: Damon Kohler <damonkohler@gmail.com>
Date: Fri, 30 Sep 2016 14:25:28 +0200
Subject: [PATCH] Adds Revo LDS demo. (#76)

* Adds Revo LDS demo.
---
 .../configuration_files/revo_lds.lua          | 44 +++++++++++++++++++
 cartographer_ros/launch/demo_revo_lds.launch  | 32 ++++++++++++++
 docs/source/index.rst                         | 14 ++++--
 3 files changed, 86 insertions(+), 4 deletions(-)
 create mode 100644 cartographer_ros/configuration_files/revo_lds.lua
 create mode 100644 cartographer_ros/launch/demo_revo_lds.launch

diff --git a/cartographer_ros/configuration_files/revo_lds.lua b/cartographer_ros/configuration_files/revo_lds.lua
new file mode 100644
index 0000000..b2488eb
--- /dev/null
+++ b/cartographer_ros/configuration_files/revo_lds.lua
@@ -0,0 +1,44 @@
+-- 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.
+
+include "map_builder.lua"
+
+options = {
+  map_builder = MAP_BUILDER,
+  map_frame = "map",
+  tracking_frame = "horizontal_laser_link",
+  published_frame = "horizontal_laser_link",
+  odom_frame = "odom",
+  provide_odom_frame = true,
+  use_odometry_data = false,
+  use_constant_odometry_variance = false,
+  constant_odometry_translational_variance = 0.,
+  constant_odometry_rotational_variance = 0.,
+  use_horizontal_laser = true,
+  use_horizontal_multi_echo_laser = false,
+  horizontal_laser_min_range = 0.3,
+  horizontal_laser_max_range = 8.,
+  horizontal_laser_missing_echo_ray_length = 1.,
+  num_lasers_3d = 0,
+  lookup_transform_timeout_sec = 0.01,
+  submap_publish_period_sec = 0.3,
+  pose_publish_period_sec = 5e-3,
+}
+
+MAP_BUILDER.use_trajectory_builder_2d = true
+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
diff --git a/cartographer_ros/launch/demo_revo_lds.launch b/cartographer_ros/launch/demo_revo_lds.launch
new file mode 100644
index 0000000..555e119
--- /dev/null
+++ b/cartographer_ros/launch/demo_revo_lds.launch
@@ -0,0 +1,32 @@
+<!--
+  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.
+-->
+
+<launch>
+  <param name="/use_sim_time" value="true" />
+
+  <node name="cartographer_node" pkg="cartographer_ros"
+      type="cartographer_node" args="
+          -configuration_directory $(find cartographer_ros)/configuration_files
+          -configuration_basename revo_lds.lua"
+      output="screen">
+    <remap from="scan" to="horizontal_laser_2d" />
+  </node>
+
+  <node name="rviz" pkg="rviz" type="rviz" required="true"
+      args="-d $(find cartographer_ros)/configuration_files/demo_2d.rviz" />
+  <node name="playbag" pkg="rosbag" type="play"
+      args="--clock $(arg bag_filename)" />
+</launch>
diff --git a/docs/source/index.rst b/docs/source/index.rst
index 234f1b0..46e8190 100644
--- a/docs/source/index.rst
+++ b/docs/source/index.rst
@@ -74,16 +74,22 @@ in this case ``~/Downloads``, and use ``roslaunch`` to bring up the demo:
 
   .. code-block:: bash
 
-    # Download the 2D example bag.
+    # Download the 2D backpack example bag.
     wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/cartographer_paper_deutsches_museum.bag
 
-    # Launch the 2D demo.
+    # Launch the 2D backpack demo.
     roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=${HOME}/Downloads/cartographer_paper_deutsches_museum.bag
 
-    # Download the 3D example bag.
+    # Download the 3D backpack example bag.
     wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/cartographer_3d_deutsches_museum.bag
 
-    # Launch the 3D demo.
+    # Launch the 3D backpack demo.
     roslaunch cartographer_ros demo_backpack_3d.launch bag_filename:=${HOME}/Downloads/cartographer_3d_deutsches_museum.bag
 
+    # Download the Revo LDS example bag.
+    wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/cartographer_paper_revo_lds.bag
+
+    # Launch the Revo LDS demo.
+    roslaunch cartographer_ros demo_revo_lds.launch bag_filename:=${HOME}/Downloads/cartographer_paper_revo_lds.bag
+
 The launch files will bring up ``roscore`` and ``rviz`` automatically.