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Follow Cartographer API. (#49)

Wolfgang Hess 8 years ago
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6e5f111970
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29b2e2033f
1 changed files with 1 additions and 1 deletions
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      cartographer_turtlebot/configuration_files/turtlebot_depth_camera_2d.lua

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cartographer_turtlebot/configuration_files/turtlebot_depth_camera_2d.lua
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@@ -43,7 +43,7 @@ TRAJECTORY_BUILDER_2D.ceres_scan_matcher.translation_weight = 70
 
 TRAJECTORY_BUILDER_2D.ceres_scan_matcher.rotation_weight = 300
 
 
 TRAJECTORY_BUILDER_2D.submaps.resolution = 0.035
 
-TRAJECTORY_BUILDER_2D.submaps.num_laser_fans = 120
 
+TRAJECTORY_BUILDER_2D.submaps.num_range_data = 120
 
 SPARSE_POSE_GRAPH.optimize_every_n_scans = 120
 
 SPARSE_POSE_GRAPH.constraint_builder.min_score = 0.82
 
 SPARSE_POSE_GRAPH.constraint_builder.sampling_ratio = 1.