doisyg

include "map_builder.lua"
include "trajectory_builder.lua"

options = {
  map_builder = MAP_BUILDER,
  trajectory_builder = TRAJECTORY_BUILDER,
  map_frame = "map",
  tracking_frame = "base_footprint",
  published_frame = "base_footprint",
  odom_frame = "odom",

doisyg

include "r2000.lua"

TRAJECTORY_BUILDER.pure_localization = true
POSE_GRAPH.optimize_every_n_nodes = 20

return options

doisyg

<launch>
  <param name="/use_sim_time" value="true" />

  <node name="robot_state_publisher" pkg="robot_state_publisher"
    type="robot_state_publisher" />

  <node name="cartographer_node" pkg="cartographer_ros"
      type="cartographer_node" args="
          -configuration_directory $(find keylo_mapping)/launch/carto
          -configuration_basename keylo_r2000_localization.lua