53 lines
1.8 KiB
Lua
Executable File
53 lines
1.8 KiB
Lua
Executable File
include "map_builder.lua"
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include "trajectory_builder.lua"
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options = {
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map_builder = MAP_BUILDER,
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trajectory_builder = TRAJECTORY_BUILDER,
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map_frame = "map",
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tracking_frame = "down_laser_link",
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published_frame = "base_link",
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odom_frame = "odom",
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provide_odom_frame = true,
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publish_frame_projected_to_2d = false,
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use_odometry = false,
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use_nav_sat = false,
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use_landmarks = false,
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num_laser_scans = 1,
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num_multi_echo_laser_scans = 0,
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num_subdivisions_per_laser_scan = 1,
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num_point_clouds = 0,
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lookup_transform_timeout_sec = 0.2,
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submap_publish_period_sec = 0.3,
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pose_publish_period_sec = 5e-3,
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trajectory_publish_period_sec = 30e-3,
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rangefinder_sampling_ratio = 1.,
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odometry_sampling_ratio = 1.,
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fixed_frame_pose_sampling_ratio = 1.,
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imu_sampling_ratio = 1.,
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landmarks_sampling_ratio = 1.,
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}
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MAP_BUILDER.use_trajectory_builder_2d = true
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MAP_BUILDER.num_background_threads = 4
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TRAJECTORY_BUILDER_2D.submaps.num_range_data = 10
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TRAJECTORY_BUILDER_2D.min_range = 0.1
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TRAJECTORY_BUILDER_2D.max_range = 8.
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TRAJECTORY_BUILDER_2D.missing_data_ray_length = 1.
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TRAJECTORY_BUILDER_2D.use_imu_data = false
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TRAJECTORY_BUILDER_2D.imu_gravity_time_constant = 9.8 --可能要改
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TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true
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TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.linear_search_window = 0.1
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TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.translation_delta_cost_weight = 10.
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TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.rotation_delta_cost_weight = 1e-1
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POSE_GRAPH.optimization_problem.huber_scale = 1e2
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POSE_GRAPH.optimize_every_n_nodes = 0
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POSE_GRAPH.constraint_builder.min_score = 0.65
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POSE_GRAPH.global_constraint_search_after_n_seconds = 20
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POSE_GRAPH.max_num_final_iterations = 100
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return options
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