Created
May 23, 2020 02:18
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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 = true, | |
use_odometry = true, | |
use_nav_sat = false, | |
use_landmarks = false, | |
num_laser_scans = 1, | |
num_multi_echo_laser_scans = 0, | |
num_subdivisions_per_laser_scan = 12, | |
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 = 16 | |
TRAJECTORY_BUILDER_2D.use_imu_data = true | |
TRAJECTORY_BUILDER_2D.submaps.num_range_data = 180 | |
TRAJECTORY_BUILDER_2D.submaps.grid_options_2d.resolution = 0.025 | |
TRAJECTORY_BUILDER_2D.num_accumulated_range_data = 12 | |
TRAJECTORY_BUILDER_2D.voxel_filter_size = 0.05 | |
TRAJECTORY_BUILDER_2D.max_range = 5. | |
TRAJECTORY_BUILDER_2D.min_range = 0.1 | |
TRAJECTORY_BUILDER_2D.missing_data_ray_length = 5.5 | |
TRAJECTORY_BUILDER_2D.ceres_scan_matcher.translation_weight = 50 | |
TRAJECTORY_BUILDER_2D.ceres_scan_matcher.rotation_weight = 100 | |
POSE_GRAPH.optimize_every_n_nodes = 16 | |
POSE_GRAPH.global_sampling_ratio = 0.01 | |
POSE_GRAPH.constraint_builder.min_score = 0.5 -- | |
POSE_GRAPH.constraint_builder.sampling_ratio = 0.05 | |
POSE_GRAPH.optimization_problem.log_solver_summary = true -- | |
return options |
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