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wood_car.lua
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include "map_builder.lua" | |
include "trajectory_builder.lua" | |
options = { | |
map_builder = MAP_BUILDER, | |
trajectory_builder = TRAJECTORY_BUILDER, | |
map_frame = "map", | |
tracking_frame = "imu_link", | |
published_frame = "base_link", | |
odom_frame = "odom", | |
provide_odom_frame = true, | |
publish_frame_projected_to_2d = false, | |
use_odometry = true, | |
use_nav_sat = false, | |
use_landmarks = false, | |
num_laser_scans = 2, | |
num_multi_echo_laser_scans = 0, | |
num_subdivisions_per_laser_scan = 10, | |
num_point_clouds = 0, | |
lookup_transform_timeout_sec = 0.2, | |
submap_publish_period_sec = 0.3, | |
pose_publish_period_sec = 5e-3, | |
trajectory_publish_period_sec = 30e-3, | |
rangefinder_sampling_ratio = 1., | |
odometry_sampling_ratio = 1., | |
fixed_frame_pose_sampling_ratio = 1., | |
imu_sampling_ratio = 1., | |
landmarks_sampling_ratio = 1., | |
} | |
MAP_BUILDER.use_trajectory_builder_2d = true | |
MAP_BUILDER.num_background_threads = 2 | |
TRAJECTORY_BUILDER_2D.num_accumulated_range_data = 10 | |
TRAJECTORY_BUILDER_2D.use_imu_data = true | |
TRAJECTORY_BUILDER_2D.submaps.num_range_data = 120 | |
TRAJECTORY_BUILDER_2D.voxel_filter_size = 0.050 | |
TRAJECTORY_BUILDER_2D.max_range = 12. | |
TRAJECTORY_BUILDER_2D.min_range = 0.2 | |
TRAJECTORY_BUILDER_2D.missing_data_ray_length = 5. | |
TRAJECTORY_BUILDER_2D.ceres_scan_matcher.occupied_space_weight = 1. | |
TRAJECTORY_BUILDER_2D.ceres_scan_matcher.translation_weight = 40 | |
TRAJECTORY_BUILDER_2D.ceres_scan_matcher.rotation_weight = 40 | |
POSE_GRAPH.optimize_every_n_nodes = 2 | |
return options |
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