@小丑汪 ```
options = {
map_builder = MAP_BUILDER_DEFAULT,
trajectory_builder = TRAJECTORY_BUILDER_DEFAULT,
map_builders = {
[1] = MAP_BUILDER_DEFAULT,
[2] = MAP_BUILDER_ELEVATOR,
},
trajectory_builders = {
[1] = TRAJECTORY_BUILDER_DEFAULT,
[2] = TRAJECTORY_BUILDER_ELEVATOR,
},
map_frame = "map",
tracking_frame = "base_footprint",
published_frame = "odom",
odom_frame = "odom",
scan_frame_id = "laser_front",
provide_odom_frame = false,
publish_raw_odom_tf = false,
publish_frame_projected_to_2d = true,
use_pose_extrapolator = true,
log_delay_histogram = false,
use_odometry = true,
use_nav_sat = false,
use_landmarks = false,
num_laser_scans = 2,
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 = 0.02,
trajectory_publish_period_sec = 30e-3,
localization_score_threshold_good = 0.7,
localization_score_threshold_medium = 0.5,
localization_score_threshold_weak = 0.3,
score_warp_polynomial = "0.54563,-1.76587,2.14732,0.00000",
rangefinder_sampling_ratio = 1.,
odometry_sampling_ratio = 1.,
fixed_frame_pose_sampling_ratio = 1.,
imu_sampling_ratio = 1.,
landmarks_sampling_ratio = 1.,
publish_tracked_pose = true,
tracking_localization_score_pub_ratio = 10,
start_new_trajectory_relocalization_score = 0.0,
initial_localization_configuration_dir = "/share/cartographer_ros/localization_config/config",
initial_localization_configuration_file = "localization_without_odom.lua",
initial_localization_map = "/share/cartographer_ros/localization_config/maps/1.pbstream",
--离群点阈值和曲率阈值
cloudcurvature_threshold = 1000000,
outlier_threshold = 0.0001,
}
TRAJECTORY_BUILDER_2D.submaps.grid_options_2d.resolution = 0.05
POSE_GRAPH.optimize_every_n_nodes = 20
MAP_BUILDER.num_background_threads = 8
TRAJECTORY_BUILDER_2D.use_imu_data = false
return options
