41 lines
1.3 KiB
Lua
41 lines
1.3 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 "map_builder.lua"
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options = {
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map_builder = MAP_BUILDER,
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map_frame = "map",
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tracking_frame = "base_link",
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odom_frame = "odom",
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provide_odom_frame = false,
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use_odometry_data = false,
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publish_occupancy_grid = false,
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use_horizontal_laser = true,
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use_horizontal_multi_echo_laser = false,
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horizontal_laser_min_range = 0.,
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horizontal_laser_max_range = 30.,
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horizontal_laser_missing_echo_ray_length = 5.,
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num_lasers_3d = 0,
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lookup_transform_timeout_sec = 0.01,
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submap_publish_period_sec = 0.3,
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pose_publish_period_sec = 5e-3,
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}
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options.map_builder.use_trajectory_builder_2d = true
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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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