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Use new pure localization trimmer options. (#918)

master
Alexander Belyaev 2018-07-03 13:56:03 +02:00 committed by GitHub
parent 237dd83b60
commit bb4aec395f
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2 changed files with 6 additions and 2 deletions
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4
cartographer_ros/configuration_files/backpack_2d_localization.lua
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@ -14,7 +14,9 @@
include "backpack_2d.lua" 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 POSE_GRAPH.optimize_every_n_nodes = 20
return options return options

4
cartographer_ros/configuration_files/backpack_3d_localization.lua
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@ -14,7 +14,9 @@
include "backpack_3d.lua" 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 POSE_GRAPH.optimize_every_n_nodes = 100
return options return options