cartographer issu #1715

robot.launch

<?xml version="1.0"?>
<launch>
    <param name="/use_sim_time" value="true" /> <!-- for rosbag -->
    <!-- <arg name = "model_xacro" default = "$(find cartographer_ros)/urdf/scout_v2.xacro" />
    <param name="robot_description" command="$(find xacro)/xacro $(arg model_xacro)"/>

    <node name="robot_state_publisher" 
        pkg="robot_state_publisher"
        type="robot_state_publisher" /> -->
 <param name="robot_description"
    textfile="$(find cartographer_ros)/urdf/scout_v2.urdf" />

  <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 cartographer_ros)/configuration_files
          -configuration_basename robot.lua"
      output="screen">
        <remap from="points2_1" to="/livox/lidar_3GGDJ9400100731" />
        <remap from="points2_2" to="/livox/lidar_3GGDJ8T00100411" />
        <remap from="odom" to="/odom" />
        <remap from="imu" to="/IMU_data"/>
    </node>

    <node name="cartographer_occupancy_grid_node" pkg="cartographer_ros"
      type="cartographer_occupancy_grid_node" args="-resolution 0.05" />

    <node name="rviz" pkg="rviz" type="rviz" required="true"
      args="-d $(find cartographer_ros)/configuration_files/demo_3d.rviz" />
<!-- 
    <node name="playbag" pkg="rosbag" type="play"
      args="clock /home/user/slam_ws/data/floor1-0416-pc2.bag" /> -->
</launch>

robot.lua

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

options = {
  map_builder = MAP_BUILDER,
  trajectory_builder = TRAJECTORY_BUILDER,
  map_frame = "map",
  tracking_frame = "base_link",
  published_frame = "base_link",
  odom_frame = "odom",
  provide_odom_frame = false,
  publish_frame_projected_to_2d = false,
  use_pose_extrapolator = true,
  use_odometry = true,
  use_nav_sat = false,
  use_landmarks = false,
  num_laser_scans = 0,
  num_multi_echo_laser_scans = 0,
  num_subdivisions_per_laser_scan = 1,
  num_point_clouds = 2,
  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.,
}

--TRAJECTORY_BUILDER_3D.num_accumulated_range_data = 160
TRAJECTORY_BUILDER_3D.num_accumulated_range_data = 5

MAP_BUILDER.use_trajectory_builder_3d = true
MAP_BUILDER.num_background_threads = 7
POSE_GRAPH.optimization_problem.huber_scale = 5e2
POSE_GRAPH.optimize_every_n_nodes = 320
POSE_GRAPH.constraint_builder.sampling_ratio = 0.03
POSE_GRAPH.optimization_problem.ceres_solver_options.max_num_iterations = 10
POSE_GRAPH.constraint_builder.min_score = 0.62
POSE_GRAPH.constraint_builder.global_localization_min_score = 0.66

return options

scout_v2.urdf

<?xml version="1.0"?>

<robot name="scout_v2" >

    <!-- Base link -->
    <link name="base_link">
        <visual>
            <origin xyz="0 0 0" rpy="0 0 0" />
            <geometry>
                <box size="0.06 0.04 0.02" />
            </geometry>
        </visual>
        <collision>
            <origin xyz="0 0 0.008" rpy="0 0 0" />
            <geometry>
                <box size="0.9250000 0.380000 0.210000"/>
            </geometry>
        </collision>
        <collision>
            <origin xyz="0 0 0.035" rpy="0 0 0" />
            <geometry>
                <box size="0.154 0.627 0.07"/>
            </geometry>
        </collision>
    </link>

	<link name="motion_center" />
	<joint name="base_motion_joint" type="fixed">
		<parent link="base_link"/>
		<child link="motion_center"/>
		<origin rpy="0 0 0" xyz="0.0 0 0"/>
	</joint>

    <link name="base_footprint"/>

    <joint name="base_footprint_joint" type="fixed">
        <origin xyz="0 0 -0.1647" rpy="0 0 0" />
        <parent link="base_link" />
        <child link="base_footprint" />
    </joint>

    <link name="inertial_link">
        <inertial>
            <mass value="40" />
            <origin xyz="0.0 0.0 0.0" />
            <inertia ixx="2.288641" ixy="0" ixz="0" iyy="5.103976" iyz="0" izz="3.431465" />
        </inertial>
    </link>

    <joint name="inertial_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0" />
        <parent link="base_link" />
        <child link="inertial_link" />
    </joint>

    <link name="livox_frame">
        <inertial>
            <mass value="3"/>
            <origin xyz="0 0 0"/>
            <inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171"/>
        </inertial>
        <visual>
            <origin rpy="0 0 0" xyz="0 0 0"/>
            <geometry>
                <box size="0.06 0.04 0.02" />
            </geometry>
            <material name="">
                <color rgba="1 1 1 1" />
            </material>
        </visual>
        <collision>
            <origin rpy="0 0 0" xyz="0 0 0"/>
            <geometry>
                <box size="0.1 0.1 0.1"/>
            </geometry>
        </collision>
    </link>

    <joint name="base_link_livox_joint" type="fixed">
        <parent link="base_link"/>
        <child link="livox_frame"/>
        <origin rpy="0 0 0" xyz="0.1 0.0 0.52"/>
        <axis rpy="0 0 0" xyz="0 0 0"/>
    </joint>

    <link name="imu_link"/>
    <joint name="base_link_imu_joint" type="fixed">
        <parent link="base_link"/>
        <child link="imu_link"/>
        <origin rpy="0 0 0" xyz="0.0 0.0 0.52"/>
        <axis rpy="0 0 0" xyz="0 0 0"/>
    </joint>


</robot>