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Follow googlecartographer/cartographer#259. (#324)

master
Wolfgang Hess 2017-05-04 16:20:45 +02:00 committed by GitHub
parent 6b147dd445
commit e4de18cc65
2 changed files with 5 additions and 5 deletions
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6
cartographer_ros/configuration_files/revo_lds.lua
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@ -32,9 +32,9 @@ options = {
MAP_BUILDER.use_trajectory_builder_2d = true MAP_BUILDER.use_trajectory_builder_2d = true
TRAJECTORY_BUILDER_2D.laser_min_range = 0.3 TRAJECTORY_BUILDER_2D.min_range = 0.3
TRAJECTORY_BUILDER_2D.laser_max_range = 8. TRAJECTORY_BUILDER_2D.max_range = 8.
TRAJECTORY_BUILDER_2D.laser_missing_echo_ray_length = 1. TRAJECTORY_BUILDER_2D.missing_data_ray_length = 1.
TRAJECTORY_BUILDER_2D.use_imu_data = false TRAJECTORY_BUILDER_2D.use_imu_data = false
TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true

4
cartographer_ros/configuration_files/taurob_tracker.lua
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@ -31,8 +31,8 @@ options = {
} }
TRAJECTORY_BUILDER_3D.scans_per_accumulation = 180 TRAJECTORY_BUILDER_3D.scans_per_accumulation = 180
TRAJECTORY_BUILDER_3D.laser_min_range = 0.5 TRAJECTORY_BUILDER_3D.min_range = 0.5
TRAJECTORY_BUILDER_3D.laser_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.
MAP_BUILDER.use_trajectory_builder_3d = true MAP_BUILDER.use_trajectory_builder_3d = true