offline_mapping.lua

-- 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 = "base_link",
  published_frame = "odom",
  odom_frame = "odom",
  provide_odom_frame = false,
  publish_frame_projected_to_2d = false,
  use_pose_extrapolator = false,
  use_odometry = true,
  use_nav_sat = false,
  use_landmarks = false,
  num_multi_echo_laser_scans = 0,
  num_laser_scans = 1,
  num_subdivisions_per_laser_scan = 20,
  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.,
  imu_sampling_ratio = 1.,
  fixed_frame_pose_sampling_ratio = 1.,
  landmarks_sampling_ratio = 1.,
}

POSE_GRAPH.optimize_every_n_nodes = 30 --30

MAP_BUILDER.use_trajectory_builder_2d = true

TRAJECTORY_BUILDER_2D.ceres_scan_matcher.translation_weight = 5 --> 5
TRAJECTORY_BUILDER_2D.ceres_scan_matcher.rotation_weight = 1 --> 1
TRAJECTORY_BUILDER_2D.num_accumulated_range_data = 20 --> 20 e o valor ideal
TRAJECTORY_BUILDER_2D.submaps.grid_options_2d.resolution = 0.01
--TRAJECTORY_BUILDER_2D.min_range = 0.02
--TRAJECTORY_BUILDER_2D.max_range = 4.
--TRAJECTORY_BUILDER_2D.missing_data_ray_length = 5.6
--TRAJECTORY_BUILDER_nD.voxel_filter_size = 0.03
--TRAJECTORY_BUILDER_2D.motion_filter.max_distance_meters = 1.0

TRAJECTORY_BUILDER_2D.use_imu_data = false

--para que na obtenção da pose/trajetoria nao desaparecam poses enquanto o robo esta parado
TRAJECTORY_BUILDER_2D.motion_filter.max_time_seconds = 0.
TRAJECTORY_BUILDER_2D.motion_filter.max_distance_meters = 0.
TRAJECTORY_BUILDER_2D.motion_filter.max_angle_radians = 0.

--TRAJECTORY_BUILDER_2D.submaps.num_range_data = 

POSE_GRAPH.constraint_builder.max_constraint_distance = 2


return options