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Fix configuration files. (#52) 

Fixes configuration files to work with the latest code changes.
Also removes the remapping from turtlebot.launch which does not
seem to be useful so far.
master
Wolfgang Hess 2016-09-08 18:12:03 +02:00 committed by GitHub
parent 9003b19343
commit f4d69a738b
7 changed files with 10 additions and 17 deletions
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14
cartographer_ros/configuration_files/backpack_3d.lua
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@ -34,15 +34,15 @@ options = {
} }
options.map_builder.use_trajectory_builder_3d = true options.map_builder.use_trajectory_builder_3d = true
options.sparse_pose_graph.optimize_every_n_scans = 320 options.map_builder.sparse_pose_graph.optimize_every_n_scans = 320
options.sparse_pose_graph.constraint_builder.sampling_ratio = 0.03 options.map_builder.sparse_pose_graph.constraint_builder.sampling_ratio = 0.03
options.sparse_pose_graph.optimization_problem.ceres_solver_options.max_num_iterations = 10 options.map_builder.sparse_pose_graph.optimization_problem.ceres_solver_options.max_num_iterations = 10
-- Reuse the coarser 3D voxel filter to speed up the computation of loop closure -- Reuse the coarser 3D voxel filter to speed up the computation of loop closure
-- constraints. -- constraints.
options.sparse_pose_graph.constraint_builder.adaptive_voxel_filter = TRAJECTORY_BUILDER_3D.high_resolution_adaptive_voxel_filter options.map_builder.sparse_pose_graph.constraint_builder.adaptive_voxel_filter = TRAJECTORY_BUILDER_3D.high_resolution_adaptive_voxel_filter
options.sparse_pose_graph.constraint_builder.min_score = 0.62 options.map_builder.sparse_pose_graph.constraint_builder.min_score = 0.62
options.sparse_pose_graph.constraint_builder.log_matches = true options.map_builder.sparse_pose_graph.constraint_builder.log_matches = true
options.trajectory_builder.scans_per_accumulation = 20 options.map_builder.trajectory_builder_3d.scans_per_accumulation = 20
return options return options

4
cartographer_ros/configuration_files/turtlebot.lua
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@ -34,7 +34,7 @@ options = {
} }
options.map_builder.use_trajectory_builder_2d = true options.map_builder.use_trajectory_builder_2d = true
options.trajectory_builder.expect_imu_data = false options.map_builder.trajectory_builder_2d.use_imu_data = false
options.trajectory_builder.use_online_correlative_scan_matching = true options.map_builder.trajectory_builder_2d.use_online_correlative_scan_matching = true
return options return options

1
cartographer_ros/launch/backpack_2d.launch
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@ -28,5 +28,4 @@
output="screen"> output="screen">
<remap from="echoes" to="horizontal_laser_2d" /> <remap from="echoes" to="horizontal_laser_2d" />
</node> </node>
</launch> </launch>

1
cartographer_ros/launch/backpack_3d.launch
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@ -29,5 +29,4 @@
<remap from="points2_1" to="horizontal_laser_3d" /> <remap from="points2_1" to="horizontal_laser_3d" />
<remap from="points2_2" to="vertical_laser_3d" /> <remap from="points2_2" to="vertical_laser_3d" />
</node> </node>
</launch> </launch>

1
cartographer_ros/launch/demo_2d.launch
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@ -23,5 +23,4 @@
args="-d $(find cartographer_ros)/configuration_files/demo_2d.rviz" /> args="-d $(find cartographer_ros)/configuration_files/demo_2d.rviz" />
<node name="playbag" pkg="rosbag" type="play" <node name="playbag" pkg="rosbag" type="play"
args="--clock $(arg bag_filename)" /> args="--clock $(arg bag_filename)" />
</launch> </launch>

1
cartographer_ros/launch/demo_3d.launch
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@ -23,5 +23,4 @@
args="-d $(find cartographer_ros)/configuration_files/demo_3d.rviz" /> args="-d $(find cartographer_ros)/configuration_files/demo_3d.rviz" />
<node name="playbag" pkg="rosbag" type="play" <node name="playbag" pkg="rosbag" type="play"
args="--clock $(arg bag_filename)" /> args="--clock $(arg bag_filename)" />
</launch> </launch>

5
cartographer_ros/launch/turtlebot.launch
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@ -25,8 +25,5 @@
type="cartographer_node" args=" type="cartographer_node" args="
-configuration_directory $(find cartographer_ros)/configuration_files -configuration_directory $(find cartographer_ros)/configuration_files
-configuration_basename turtlebot.lua" -configuration_basename turtlebot.lua"
output="screen"> output="screen" />
<remap from="scan" to="horizontal_laser_2d" />
</node>
</launch> </launch>