68 lines
1.6 KiB
Lua
68 lines
1.6 KiB
Lua
include "map_builder.lua"
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include "trajectory_builder.lua"
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--001
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options = {
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map_builder = MAP_BUILDER,
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trajectory_builder = TRAJECTORY_BUILDER,
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map_frame = "map",
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-- /imu의 header.frame_id
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tracking_frame = "base_footprint",
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-- 기존 wheel odometry가 odom_frame -> base_footprint를 발행하므로
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-- Cartographer는 map -> odom_frame을 발행
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published_frame = "odom",
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odom_frame = "odom",
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-- 기존 /odom_raw 및 TF를 사용하므로 Cartographer가
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-- odom 프레임을 별도로 만들지 않음
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provide_odom_frame = false,
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publish_frame_projected_to_2d = true,
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-- /odom_raw 사용
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use_odometry = true,
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use_nav_sat = false,
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use_landmarks = false,
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-- /scan 사용
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num_laser_scans = 1,
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num_multi_echo_laser_scans = 0,
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num_subdivisions_per_laser_scan = 1,
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num_point_clouds = 0,
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lookup_transform_timeout_sec = 0.2,
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submap_publish_period_sec = 0.3,
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pose_publish_period_sec = 5e-3,
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trajectory_publish_period_sec = 30e-3,
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rangefinder_sampling_ratio = 1.0,
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odometry_sampling_ratio = 1.0,
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fixed_frame_pose_sampling_ratio = 1.0,
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imu_sampling_ratio = 1.0,
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landmarks_sampling_ratio = 1.0,
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}
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MAP_BUILDER.use_trajectory_builder_2d = true
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-- /scan 스펙
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TRAJECTORY_BUILDER_2D.min_range = 0.12
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TRAJECTORY_BUILDER_2D.max_range = 8.0
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TRAJECTORY_BUILDER_2D.missing_data_ray_length = 3.0
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-- /imu 사용
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TRAJECTORY_BUILDER_2D.use_imu_data = false
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TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true
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TRAJECTORY_BUILDER_2D.motion_filter.max_angle_radians =
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math.rad(0.1)
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POSE_GRAPH.constraint_builder.min_score = 0.65
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POSE_GRAPH.constraint_builder.global_localization_min_score = 0.7
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return options
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