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Can I use only one Rplidar with Cartographer for slam ???

asked 2019-10-28 23:58:04 -0600

aminballoon gravatar image

updated 2019-10-29 00:19:11 -0600

If can how can i setting a .lua file ??

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This question is not detailed enough. Please edit your question with more concrete questions about your problem, as well as what you have tried/researched so far with the respective outcome.

mgruhler gravatar imagemgruhler ( 2019-10-29 01:49:35 -0600 )edit

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answered 2019-10-29 02:42:10 -0600

duck-development gravatar image

You may use this

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,
use_odometry = false,
use_nav_sat = false,
use_landmarks = false,
publish_frame_projected_to_2d = false,
num_laser_scans = 1,
num_multi_echo_laser_scans = 0,
num_subdivisions_per_laser_scan = 1,
rangefinder_sampling_ratio = 1,
odometry_sampling_ratio = 1,
fixed_frame_pose_sampling_ratio = 1,
imu_sampling_ratio = 1,
landmarks_sampling_ratio = 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,
}

MAP_BUILDER.use_trajectory_builder_2d = true

TRAJECTORY_BUILDER_2D.use_imu_data = false

TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true

POSE_GRAPH.optimization_problem.huber_scale = 1e2

return options

The source is here http://ardupilot.org/dev/docs/ros-car...

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Asked: 2019-10-28 23:58:04 -0600

Seen: 194 times

Last updated: Oct 29