add laser only cartographer launch and lua, add velo carto launch and…

… lua

racecar_slam/configuration_files/racecar_laser_only.lua

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+-- 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 = "base_link",
+  odom_frame = "odom",
+  provide_odom_frame = true,
+  publish_frame_projected_to_2d = true,
+  use_odometry = false,
+  use_nav_sat = false,
+  use_landmarks = false,
+  num_laser_scans = 1,
+  num_multi_echo_laser_scans = 0,
+  num_subdivisions_per_laser_scan = 1,
+  num_point_clouds = 0,
+  lookup_transform_timeout_sec = 0.5,
+  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
+
+TRAJECTORY_BUILDER_2D.submaps.num_range_data = 35
+TRAJECTORY_BUILDER_2D.min_range = 0.3
+TRAJECTORY_BUILDER_2D.max_range = 10.8
+TRAJECTORY_BUILDER_2D.missing_data_ray_length = 1.
+TRAJECTORY_BUILDER_2D.use_imu_data = false
+TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true
+TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.linear_search_window = 0.5
+TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.translation_delta_cost_weight = 10.
+TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.rotation_delta_cost_weight = 1e-1
+
+POSE_GRAPH.optimization_problem.huber_scale = 1e2
+POSE_GRAPH.optimize_every_n_nodes = 35
+POSE_GRAPH.constraint_builder.min_score = 0.65
+
+return options
+

racecar_slam/configuration_files/velodyne_points.lua

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+-- 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_footprint",
+  published_frame = "odom",
+  odom_frame = "odom",
+  provide_odom_frame = false,
+  publish_frame_projected_to_2d = true,
+  use_pose_extrapolator = true,
+  use_odometry = true,
+  use_nav_sat = false,
+  use_landmarks = false,
+  num_laser_scans = 0,
+  num_multi_echo_laser_scans = 0,
+  num_subdivisions_per_laser_scan = 1,
+  num_point_clouds = 1,
+  lookup_transform_timeout_sec = 0.5,
+  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
+
+TRAJECTORY_BUILDER_2D.submaps.num_range_data = 35
+TRAJECTORY_BUILDER_2D.min_range = 0.3
+TRAJECTORY_BUILDER_2D.max_range = 10.8
+TRAJECTORY_BUILDER_2D.missing_data_ray_length = 1.
+TRAJECTORY_BUILDER_2D.use_imu_data = false
+TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true
+TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.linear_search_window = 0.5
+TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.translation_delta_cost_weight = 10.
+TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.rotation_delta_cost_weight = 1e-1
+
+POSE_GRAPH.optimization_problem.huber_scale = 1e2
+POSE_GRAPH.optimize_every_n_nodes = 35
+POSE_GRAPH.constraint_builder.min_score = 0.65
+
+return options

racecar_slam/launch/racecar_laser_only_cartographer.launch

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+<!--
+  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.
+-->
+
+<launch>
+  <param name="/use_sim_time" value="false" />
+  <node name="cartographer_node" pkg="cartographer_ros"
+      type="cartographer_node" args="
+          -configuration_directory $(find racecar_slam)/configuration_files
+          -configuration_basename racecar_laser_only.lua"
+      output="screen">
+    <remap from="/odom" to="/odometry/filtered"/>
+    <remap from="imu" to="/imu_data"/>
+  </node>
+
+  <node name="cartographer_occupancy_grid_node" pkg="cartographer_ros"
+      type="cartographer_occupancy_grid_node" args="-resolution 0.05" />
+
+  <node name="rviz" pkg="rviz" type="rviz" required="true"
+      args="-d $(find racecar_rviz)/rviz_cfg/demo_2d.rviz" />
+</launch>
+

racecar_slam/launch/velodyne_cartographer.launch

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+<!--
+  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.
+-->
+
+<launch>
+  <param name="/use_sim_time" value="false" />
+  <node name="cartographer_node" pkg="cartographer_ros"
+      type="cartographer_node" args="
+          -configuration_directory $(find racecar_slam)/configuration_files
+          -configuration_basename velodyne_points.lua"
+      output="screen">
+    <remap from="/odom" to="/odometry/filtered"/>
+    <remap from="imu" to="/imu_data"/>
+    <remap from="points2" to="velodyne_points" />
+  </node>
+
+  <node name="cartographer_occupancy_grid_node" pkg="cartographer_ros"
+      type="cartographer_occupancy_grid_node" args="-resolution 0.05" />
+
+  <node name="rviz" pkg="rviz" type="rviz" required="true"
+      args="-d $(find racecar_rviz)/rviz_cfg/demo_2d.rviz" />
+</launch>