-- Copyright 2016 The Cartographer Authors
--
-- Licensed under the Apache License, Version 2.0 (the "License");
-- you may not use this file except in compliance with the License.
-- You may obtain a copy of the License at
--
-- http://www.apache.org/licenses/LICENSE-2.0
--
-- Unless required by applicable law or agreed to in writing, software
-- distributed under the License is distributed on an "AS IS" BASIS,
-- WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-- See the License for the specific language governing permissions and
-- limitations under the License.
include "map_builder.lua"
include "trajectory_builder.lua"
options = {
map_builder = MAP_BUILDER,
trajectory_builder = TRAJECTORY_BUILDER,
map_frame = "map",
tracking_frame = "laser",
published_frame = "laser",
odom_frame = "odom",
provide_odom_frame = false,
publish_frame_projected_to_2d = true,
use_odometry = false,
use_nav_sat = false,
use_landmarks = true,
num_laser_scans = 1,
num_multi_echo_laser_scans = 0,
num_subdivisions_per_laser_scan = 1,
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, --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
TRAJECTORY_BUILDER_2D.min_range = 0.3
TRAJECTORY_BUILDER_2D.max_range = 25
TRAJECTORY_BUILDER_2D.min_z = -3
TRAJECTORY_BUILDER_2D.max_z = 3
TRAJECTORY_BUILDER_2D.missing_data_ray_length = 25.
TRAJECTORY_BUILDER_2D.use_imu_data = false
TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true
TRAJECTORY_BUILDER_2D.motion_filter.max_angle_radians = math.rad(1.)
TRAJECTORY_BUILDER_2D.submaps.num_range_data = 30 --70
POSE_GRAPH.optimize_every_n_nodes = 1 --houjia 30 这个参数不但确定回环频率,还制定了landmark的发布频率
POSE_GRAPH.optimization_problem.odometry_translation_weight = 1
POSE_GRAPH.optimization_problem.odometry_rotation_weight = 1
POSE_GRAPH.constraint_builder.sampling_ratio = 0.03
POSE_GRAPH.optimization_problem.ceres_solver_options.max_num_iterations = 16
POSE_GRAPH.constraint_builder.min_score = 0.58
POSE_GRAPH.constraint_builder.global_localization_min_score = 0.8
POSE_GRAPH.max_num_final_iterations = 100
TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.linear_search_window = 0.1
TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.translation_delta_cost_weight = 1e3
TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.rotation_delta_cost_weight = 1
TRAJECTORY_BUILDER.pure_localization_trimmer = {
max_submaps_to_keep = 2,
} --实时性大成功!2就
--POSE_GRAPH.optimization_problem.huber_scale = 1e2
--POSE_GRAPH.constraint_builder.min_score = 0.65
return options
具有实时Trimer的配置文件
最新推荐文章于 2023-07-24 01:51:34 发布