44 lines
1.3 KiB
Lua
44 lines
1.3 KiB
Lua
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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 = "base",
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published_frame = "odom",
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odom_frame = "odom",
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provide_odom_frame = false,
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publish_frame_projected_to_2d = false,
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use_odometry = true,
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use_nav_sat = false,
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use_landmarks = false,
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num_laser_scans = 0,
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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 = 1,
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lookup_transform_timeout_sec = 0.1,
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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 = 0.5,
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fixed_frame_pose_sampling_ratio = 0.9,
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imu_sampling_ratio = 1.,
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landmarks_sampling_ratio = 1.,
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}
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TRAJECTORY_BUILDER_3D.num_accumulated_range_data = 160
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TRAJECTORY_BUILDER_3D.num_accumulated_range_data = 1
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MAP_BUILDER.use_trajectory_builder_3d = true
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MAP_BUILDER.num_background_threads = 7
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POSE_GRAPH.optimization_problem.huber_scale = 5e2
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POSE_GRAPH.optimize_every_n_nodes = 100
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POSE_GRAPH.constraint_builder.sampling_ratio = 0.03
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POSE_GRAPH.optimization_problem.ceres_solver_options.max_num_iterations = 10
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POSE_GRAPH.constraint_builder.min_score = 0.62
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POSE_GRAPH.constraint_builder.global_localization_min_score = 0.66
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return options
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