102 lines
4.3 KiB
ReStructuredText
102 lines
4.3 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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Configuration
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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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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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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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.. _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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.. _tf2: http://wiki.ros.org/tf2
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