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Follow googlecartographer/cartographer#686. (#605)

master
Wolfgang Hess 2017-11-17 13:03:43 +01:00 committed by Wally B. Feed
parent 50be3d91a4
commit af17cf5a27
8 changed files with 15 additions and 16 deletions
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11
cartographer_ros/cartographer_ros/configuration_files_test.cc
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@ -34,12 +34,11 @@ TEST_P(ConfigurationFilesTest, ValidateNodeOptions) {
}); });
} }
INSTANTIATE_TEST_CASE_P(ValidateAllNodeOptions, ConfigurationFilesTest, INSTANTIATE_TEST_CASE_P(
::testing::Values("backpack_2d.lua", ValidateAllNodeOptions, ConfigurationFilesTest,
"backpack_2d_localization.lua", ::testing::Values("backpack_2d.lua", "backpack_2d_localization.lua",
"backpack_3d.lua", "pr2.lua", "backpack_3d.lua", "backpack_3d_localization.lua",
"revo_lds.lua", "pr2.lua", "revo_lds.lua", "taurob_tracker.lua"));
"taurob_tracker.lua"));
} // namespace } // namespace
} // namespace cartographer_ros } // namespace cartographer_ros

2
cartographer_ros/configuration_files/backpack_2d.lua
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@ -38,6 +38,6 @@ options = {
} }
MAP_BUILDER.use_trajectory_builder_2d = true MAP_BUILDER.use_trajectory_builder_2d = true
TRAJECTORY_BUILDER_2D.scans_per_accumulation = 10 TRAJECTORY_BUILDER_2D.num_accumulated_range_data = 10
return options return options

2
cartographer_ros/configuration_files/backpack_2d_localization.lua
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@ -15,6 +15,6 @@
include "backpack_2d.lua" include "backpack_2d.lua"
TRAJECTORY_BUILDER.pure_localization = true TRAJECTORY_BUILDER.pure_localization = true
POSE_GRAPH.optimize_every_n_scans = 20 POSE_GRAPH.optimize_every_n_nodes = 20
return options return options

4
cartographer_ros/configuration_files/backpack_3d.lua
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@ -37,12 +37,12 @@ options = {
imu_sampling_ratio = 1., imu_sampling_ratio = 1.,
} }
TRAJECTORY_BUILDER_3D.scans_per_accumulation = 160 TRAJECTORY_BUILDER_3D.num_accumulated_range_data = 160
MAP_BUILDER.use_trajectory_builder_3d = true MAP_BUILDER.use_trajectory_builder_3d = true
MAP_BUILDER.num_background_threads = 7 MAP_BUILDER.num_background_threads = 7
POSE_GRAPH.optimization_problem.huber_scale = 5e2 POSE_GRAPH.optimization_problem.huber_scale = 5e2
POSE_GRAPH.optimize_every_n_scans = 320 POSE_GRAPH.optimize_every_n_nodes = 320
POSE_GRAPH.constraint_builder.sampling_ratio = 0.03 POSE_GRAPH.constraint_builder.sampling_ratio = 0.03
POSE_GRAPH.optimization_problem.ceres_solver_options.max_num_iterations = 10 POSE_GRAPH.optimization_problem.ceres_solver_options.max_num_iterations = 10
POSE_GRAPH.constraint_builder.min_score = 0.62 POSE_GRAPH.constraint_builder.min_score = 0.62

2
cartographer_ros/configuration_files/backpack_3d_localization.lua
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@ -15,6 +15,6 @@
include "backpack_3d.lua" include "backpack_3d.lua"
TRAJECTORY_BUILDER.pure_localization = true TRAJECTORY_BUILDER.pure_localization = true
POSE_GRAPH.optimize_every_n_scans = 100 POSE_GRAPH.optimize_every_n_nodes = 100
return options return options

2
cartographer_ros/configuration_files/revo_lds.lua
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@ -50,7 +50,7 @@ TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.translation_delta_cost_
TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.rotation_delta_cost_weight = 1e-1 TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.rotation_delta_cost_weight = 1e-1
POSE_GRAPH.optimization_problem.huber_scale = 1e2 POSE_GRAPH.optimization_problem.huber_scale = 1e2
POSE_GRAPH.optimize_every_n_scans = 35 POSE_GRAPH.optimize_every_n_nodes = 35
POSE_GRAPH.constraint_builder.min_score = 0.65 POSE_GRAPH.constraint_builder.min_score = 0.65
return options return options

4
cartographer_ros/configuration_files/taurob_tracker.lua
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@ -37,7 +37,7 @@ options = {
imu_sampling_ratio = 1., imu_sampling_ratio = 1.,
} }
TRAJECTORY_BUILDER_3D.scans_per_accumulation = 180 TRAJECTORY_BUILDER_3D.num_accumulated_range_data = 180
TRAJECTORY_BUILDER_3D.min_range = 0.5 TRAJECTORY_BUILDER_3D.min_range = 0.5
TRAJECTORY_BUILDER_3D.max_range = 20. TRAJECTORY_BUILDER_3D.max_range = 20.
TRAJECTORY_BUILDER_3D.submaps.num_range_data = 40. TRAJECTORY_BUILDER_3D.submaps.num_range_data = 40.
@ -45,7 +45,7 @@ TRAJECTORY_BUILDER_3D.submaps.num_range_data = 40.
MAP_BUILDER.use_trajectory_builder_3d = true MAP_BUILDER.use_trajectory_builder_3d = true
MAP_BUILDER.num_background_threads = 7 MAP_BUILDER.num_background_threads = 7
POSE_GRAPH.optimization_problem.huber_scale = 5e2 POSE_GRAPH.optimization_problem.huber_scale = 5e2
POSE_GRAPH.optimize_every_n_scans = 40 POSE_GRAPH.optimize_every_n_nodes = 40
POSE_GRAPH.constraint_builder.sampling_ratio = 0.03 POSE_GRAPH.constraint_builder.sampling_ratio = 0.03
POSE_GRAPH.optimization_problem.ceres_solver_options.max_num_iterations = 10 POSE_GRAPH.optimization_problem.ceres_solver_options.max_num_iterations = 10
POSE_GRAPH.constraint_builder.min_score = 0.62 POSE_GRAPH.constraint_builder.min_score = 0.62

4
docs/source/faq.rst
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@ -27,8 +27,8 @@ per UDP packet, not one per revolution.
__ http://www.ros.org/doc/api/sensor_msgs/html/msg/PointCloud2.html __ http://www.ros.org/doc/api/sensor_msgs/html/msg/PointCloud2.html
In the `corresponding Cartographer configuration file`__ you see In the `corresponding Cartographer configuration file`__ you see
`TRAJECTORY_BUILDER_3D.scans_per_accumulation = 160` which means we accumulate `TRAJECTORY_BUILDER_3D.num_accumulated_range_data = 160` which means we
160 per-UDP-packet point clouds into one larger point cloud, which accumulate 160 per-UDP-packet point clouds into one larger point cloud, which
incorporates motion estimation by combining constant velocity and IMU incorporates motion estimation by combining constant velocity and IMU
measurements, for matching. Since there are two VLP-16s, 160 UDP packets is measurements, for matching. Since there are two VLP-16s, 160 UDP packets is
enough for roughly 2 revolutions, one per VLP-16. enough for roughly 2 revolutions, one per VLP-16.