36 lines
1.1 KiB
Lua
36 lines
1.1 KiB
Lua
-- Copyright 2016 The Cartographer Authors
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--
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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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--
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-- http://www.apache.org/licenses/LICENSE-2.0
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--
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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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include "trajectory_builder.lua"
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include "sparse_pose_graph.lua"
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options = {
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sparse_pose_graph = SPARSE_POSE_GRAPH,
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trajectory_builder = TRAJECTORY_BUILDER,
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map_frame = "map",
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odom_frame = "odom",
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tracking_frame = "base_link",
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provide_odom_frame = false,
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expect_odometry_data = false,
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laser_min_range = 0.,
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laser_max_range = 30.,
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laser_missing_echo_ray_length = 5.,
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use_laser_scan_2d = true
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}
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options.trajectory_builder.expect_imu_data = false
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options.trajectory_builder.use_online_correlative_scan_matching = true
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return options
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