From bb4aec395fea09609da64d4716b18072367933c8 Mon Sep 17 00:00:00 2001
From: Alexander Belyaev <32522095+pifon2a@users.noreply.github.com>
Date: Tue, 3 Jul 2018 13:56:03 +0200
Subject: [PATCH] Use new pure localization trimmer options. (#918)

---
 .../configuration_files/backpack_2d_localization.lua          | 4 +++-
 .../configuration_files/backpack_3d_localization.lua          | 4 +++-
 2 files changed, 6 insertions(+), 2 deletions(-)

diff --git a/cartographer_ros/configuration_files/backpack_2d_localization.lua b/cartographer_ros/configuration_files/backpack_2d_localization.lua
index 9ecb218..c5da92c 100644
--- a/cartographer_ros/configuration_files/backpack_2d_localization.lua
+++ b/cartographer_ros/configuration_files/backpack_2d_localization.lua
@@ -14,7 +14,9 @@
 
 include "backpack_2d.lua"
 
-TRAJECTORY_BUILDER.pure_localization = true
+TRAJECTORY_BUILDER.pure_localization_trimmer = {
+  max_submaps_to_keep = 3,
+}
 POSE_GRAPH.optimize_every_n_nodes = 20
 
 return options
diff --git a/cartographer_ros/configuration_files/backpack_3d_localization.lua b/cartographer_ros/configuration_files/backpack_3d_localization.lua
index e1f4e9f..3e677f5 100644
--- a/cartographer_ros/configuration_files/backpack_3d_localization.lua
+++ b/cartographer_ros/configuration_files/backpack_3d_localization.lua
@@ -14,7 +14,9 @@
 
 include "backpack_3d.lua"
 
-TRAJECTORY_BUILDER.pure_localization = true
+TRAJECTORY_BUILDER.pure_localization_trimmer = {
+  max_submaps_to_keep = 3,
+}
 POSE_GRAPH.optimize_every_n_nodes = 100
 
 return options