64 lines
2.2 KiB
Lua
64 lines
2.2 KiB
Lua
include "map_builder.lua"
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include "trajectory_builder.lua"
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options = {
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map_builder = MAP_BUILDER,
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trajectory_builder = TRAJECTORY_BUILDER,
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map_frame = "map",
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tracking_frame = "base_link",
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-- base_link改为odom,发布map到odom之间的位姿态
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published_frame = "odom",
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odom_frame = "odom",
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-- true改为false，不用提供里程计数据
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provide_odom_frame = false,
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-- false改为true，仅发布2D位资
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publish_frame_projected_to_2d = true,
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-- false改为true，使用里程计数据
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use_odometry = true,
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use_nav_sat = false,
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use_landmarks = false,
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-- 0改为1,使用一个雷达
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num_laser_scans = 1,
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-- 1改为0，不使用多波雷达
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num_multi_echo_laser_scans = 0,
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-- 10改为1，1/1=1等于不分割
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num_subdivisions_per_laser_scan = 1,
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num_point_clouds = 0,
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lookup_transform_timeout_sec = 0.2,
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submap_publish_period_sec = 0.3,
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pose_publish_period_sec = 5e-3,
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trajectory_publish_period_sec = 30e-3,
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rangefinder_sampling_ratio = 1.,
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odometry_sampling_ratio = 1.,
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fixed_frame_pose_sampling_ratio = 1.,
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imu_sampling_ratio = 1.,
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landmarks_sampling_ratio = 1.,
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}
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-- false改为true，启动2D SLAM
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MAP_BUILDER.use_trajectory_builder_2d = true
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-- 0改成0.10,比机器人半径小的都忽略
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TRAJECTORY_BUILDER_2D.min_range = 0.10
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-- 30改成3.5,限制在雷达最大扫描范围内，越小一般越精确些
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TRAJECTORY_BUILDER_2D.max_range = 3.5
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-- 5改成3,传感器数据超出有效范围最大值
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TRAJECTORY_BUILDER_2D.missing_data_ray_length = 3.
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-- true改成false,不使用IMU数据，大家可以开启，然后对比下效果
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TRAJECTORY_BUILDER_2D.use_imu_data = false
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-- false改成true,使用实时回环检测来进行前端的扫描匹配
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TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true
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-- 1.0改成0.1,提高对运动的敏感度
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TRAJECTORY_BUILDER_2D.motion_filter.max_angle_radians = math.rad(0.1)
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-- 0.55改成0.65,Fast csm的最低分数，高于此分数才进行优化。
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POSE_GRAPH.constraint_builder.min_score = 0.65
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--0.6改成0.7,全局定位最小分数，低于此分数则认为目前全局定位不准确
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POSE_GRAPH.constraint_builder.global_localization_min_score = 0.7
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-- 设置0可关闭全局SLAM
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-- POSE_GRAPH.optimize_every_n_nodes = 0
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return options
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