1. -- Copyright 2016 The Cartographer Authors
2. --
3. -- Licensed under the Apache License, Version 2.0 (the "License");
4. -- you may not use this file except in compliance with the License.
5. -- You may obtain a copy of the License at
6. --
7. --      http://www.apache.org/licenses/LICENSE-2.0
8. --
9. -- Unless required by applicable law or agreed to in writing, software
10. -- distributed under the License is distributed on an "AS IS" BASIS,
11. -- WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
12. -- See the License for the specific language governing permissions and
13. -- limitations under the License.
14.  
15. include "map_builder.lua"
16. include "trajectory_builder.lua"
17.  
18. NUM_SUBDIVISIONS = 1
19. NUM_RANGE_DATA = 1
20.  
21. options = {
22.   map_builder = MAP_BUILDER,
23.   trajectory_builder = TRAJECTORY_BUILDER,
24.   map_frame ="map",
25.   tracking_frame = "imu_link",
26.   published_frame = "odom",
27.   odom_frame = "odom_gc",
28.   provide_odom_frame = true,
29.   publish_frame_projected_to_2d = true,
30.   use_odometry = true,
31.   use_nav_sat = false,
32.   use_landmarks = false,
33.   num_laser_scans = 1,
34.   num_multi_echo_laser_scans = 0,
35.   num_subdivisions_per_laser_scan = NUM_SUBDIVISIONS,
36.   num_point_clouds = 0,
37.   lookup_transform_timeout_sec = 0.2,
38.   submap_publish_period_sec = 0.3,
39.   pose_publish_period_sec = 5e-3,
40.   trajectory_publish_period_sec = 30e-3,
41.   rangefinder_sampling_ratio = 1.,
42.   odometry_sampling_ratio = 1.,
43.   fixed_frame_pose_sampling_ratio = 1.,
44.   imu_sampling_ratio = 1.,
45.   landmarks_sampling_ratio = 1.,
46. }
47.  
48. MAP_BUILDER.use_trajectory_builder_2d = true
49. MAP_BUILDER.num_background_threads = 2
50.  
51. TRAJECTORY_BUILDER_2D.num_accumulated_range_data = NUM_SUBDIVISIONS
52. TRAJECTORY_BUILDER_2D.min_range = 0.12
53. TRAJECTORY_BUILDER_2D.max_range = 16
54. TRAJECTORY_BUILDER_2D.missing_data_ray_length = 15
55. TRAJECTORY_BUILDER_2D.use_imu_data = true
56. TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true
57. TRAJECTORY_BUILDER_2D.motion_filter.max_angle_radians = math.rad(0.1)
58. TRAJECTORY_BUILDER_2D.ceres_scan_matcher.translation_weight = 3.
59. TRAJECTORY_BUILDER_2D.ceres_scan_matcher.rotation_weight = 1e-2
60. TRAJECTORY_BUILDER_2D.submaps.num_range_data = NUM_RANGE_DATA
61.  
62. POSE_GRAPH.constraint_builder.min_score = 0.8
63. POSE_GRAPH.constraint_builder.global_localization_min_score = 0.8
64. POSE_GRAPH.constraint_builder.fast_correlative_scan_matcher.linear_search_window = 3.
65. POSE_GRAPH.constraint_builder.fast_correlative_scan_matcher.angular_search_window = math.rad(0.1)
66. POSE_GRAPH.constraint_builder.max_constraint_distance = 1.
67.  
68. return options
69.