136 lines
6.4 KiB
ReStructuredText
136 lines
6.4 KiB
ReStructuredText
.. Copyright 2016 The Cartographer Authors
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.. Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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.. http://www.apache.org/licenses/LICENSE-2.0
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.. Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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=========================================
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Lua configuration reference documentation
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=========================================
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Note that Cartographer's ROS integration uses `tf2`_, thus all frame IDs are
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expected to contain only a frame name (lower-case with underscores) and no
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prefix or slashes. See `REP 105`_ for commonly used coordinate frames.
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Note that topic names are given as *base* names (see `ROS Names`_) in
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Cartographer's ROS integration. This means it is up to the user of the
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Cartographer node to remap, or put them into a namespace.
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The following are Cartographer's ROS integration top-level options, all of which
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must be specified in the Lua configuration file:
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map_frame
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The ROS frame ID to use for publishing submaps, the parent frame of poses,
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usually "map".
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tracking_frame
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The ROS frame ID of the frame that is tracked by the SLAM algorithm. If an IMU
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is used, it should be at its position, although it might be rotated. A common
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choice is "imu_link".
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published_frame
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The ROS frame ID to use as the child frame for publishing poses. For example
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"odom" if an "odom" frame is supplied by a different part of the system. In
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this case the pose of "odom" in the *map_frame* will be published. Otherwise,
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setting it to "base_link" is likely appropriate.
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odom_frame
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Only used if *provide_odom_frame* is true. The frame between *published_frame*
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and *map_frame* to be used for publishing the (non-loop-closed) local SLAM
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result. Usually "odom".
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provide_odom_frame
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If enabled, the local, non-loop-closed, continuous pose will be published as
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the *odom_frame* in the *map_frame*.
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publish_frame_projected_to_2d
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If enabled, the published pose will be restricted to a pure 2D pose (no roll,
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pitch, or z-offset). This prevents potentially unwanted out-of-plane poses in
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2D mode that can occur due to the pose extrapolation step (e.g. if the pose
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shall be published as a 'base-footprint'-like frame)
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use_odometry
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If enabled, subscribes to `nav_msgs/Odometry`_ on the topic "odom". Odometry
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must be provided in this case, and the information will be included in SLAM.
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use_nav_sat
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If enabled, subscribes to `sensor_msgs/NavSatFix`_ on the topic "fix".
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Navigation data must be provided in this case, and the information will be
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included in the global SLAM.
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use_landmarks
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If enabled, subscribes to `cartographer_ros_msgs/LandmarkList`_ on the topic
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"landmarks". Landmarks must be provided, as `cartographer_ros_msgs/LandmarkEntry`_ within `cartographer_ros_msgs/LandmarkList`_. If `cartographer_ros_msgs/LandmarkEntry`_ data is provided the information
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will be included in the SLAM accoding to the ID of the `cartographer_ros_msgs/LandmarkEntry`_. The `cartographer_ros_msgs/LandmarkList`_ should be provided at a sample rate comparable to the other sensors. The list can be empty but has to be provided because Cartographer strictly time orders sensor data in order to make the landmarks deterministic. However it is possible to set the trajectory builder option "collate_landmarks" to false and allow for a non-deterministic but also non-blocking approach.
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num_laser_scans
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Number of laser scan topics to subscribe to. Subscribes to
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`sensor_msgs/LaserScan`_ on the "scan" topic for one laser scanner, or topics
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"scan_1", "scan_2", etc. for multiple laser scanners.
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num_multi_echo_laser_scans
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Number of multi-echo laser scan topics to subscribe to. Subscribes to
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`sensor_msgs/MultiEchoLaserScan`_ on the "echoes" topic for one laser scanner,
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or topics "echoes_1", "echoes_2", etc. for multiple laser scanners.
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num_subdivisions_per_laser_scan
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Number of point clouds to split each received (multi-echo) laser scan into.
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Subdividing a scan makes it possible to unwarp scans acquired while the
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scanners are moving. There is a corresponding trajectory builder option to
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accumulate the subdivided scans into a point cloud that will be used for scan
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matching.
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num_point_clouds
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Number of point cloud topics to subscribe to. Subscribes to
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`sensor_msgs/PointCloud2`_ on the "points2" topic for one rangefinder, or
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topics "points2_1", "points2_2", etc. for multiple rangefinders.
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lookup_transform_timeout_sec
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Timeout in seconds to use for looking up transforms using `tf2`_.
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submap_publish_period_sec
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Interval in seconds at which to publish the submap poses, e.g. 0.3 seconds.
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pose_publish_period_sec
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Interval in seconds at which to publish poses, e.g. 5e-3 for a frequency of
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200 Hz.
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trajectory_publish_period_sec
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Interval in seconds at which to publish the trajectory markers, e.g. 30e-3
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for 30 milliseconds.
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rangefinder_sampling_ratio
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Fixed ratio sampling for range finders messages.
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odometry_sampling_ratio
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Fixed ratio sampling for odometry messages.
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fixed_frame_sampling_ratio
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Fixed ratio sampling for fixed frame messages.
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imu_sampling_ratio
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Fixed ratio sampling for IMU messages.
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landmarks_sampling_ratio
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Fixed ratio sampling for landmarks messages.
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.. _REP 105: http://www.ros.org/reps/rep-0105.html
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.. _ROS Names: http://wiki.ros.org/Names
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.. _nav_msgs/OccupancyGrid: http://docs.ros.org/api/nav_msgs/html/msg/OccupancyGrid.html
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.. _nav_msgs/Odometry: http://docs.ros.org/api/nav_msgs/html/msg/Odometry.html
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.. _sensor_msgs/LaserScan: http://docs.ros.org/api/sensor_msgs/html/msg/LaserScan.html
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.. _sensor_msgs/MultiEchoLaserScan: http://docs.ros.org/api/sensor_msgs/html/msg/MultiEchoLaserScan.html
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.. _sensor_msgs/PointCloud2: http://docs.ros.org/api/sensor_msgs/html/msg/PointCloud2.html
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.. _sensor_msgs/NavSatFix: http://docs.ros.org/api/sensor_msgs/html/msg/NavSatFix.html
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.. _cartographer_ros_msgs/LandmarkList: https://github.com/cartographer-project/cartographer_ros/blob/master/cartographer_ros_msgs/msg/LandmarkList.msg
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.. _cartographer_ros_msgs/LandmarkEntry: https://github.com/cartographer-project/cartographer_ros/blob/4b39ee68c7a4d518bf8d01a509331e2bc1f514a0/cartographer_ros_msgs/msg/LandmarkEntry.msg
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.. _tf2: http://wiki.ros.org/tf2
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