Fixes Dockerfile to run tests, updates parameter names. (#35)

cartographer_turtlebot/configuration_files/turtlebot_depth_camera_2d.lua

@@ -21,10 +21,10 @@ options = {
   published_frame = "odom",
   odom_frame = "odom",
   provide_odom_frame = false,
-  use_odometry_data = true,
-  use_horizontal_laser = true,
-  use_horizontal_multi_echo_laser = false,
-  num_lasers_3d = 0,
+  use_odometry = true,
+  use_laser_scan = true,
+  use_multi_echo_laser_scan = false,
+  num_point_clouds = 0,
   lookup_transform_timeout_sec = 0.2,
   submap_publish_period_sec = 0.3,
   pose_publish_period_sec = 5e-3,

cartographer_turtlebot/configuration_files/turtlebot_depth_camera_3d.lua

@@ -21,10 +21,10 @@ options = {
   published_frame = "odom",
   odom_frame = "odom",
   provide_odom_frame = false,
-  use_odometry_data = true,
-  use_horizontal_laser = false,
-  use_horizontal_multi_echo_laser = false,
-  num_lasers_3d = 1,
+  use_odometry = true,
+  use_laser_scan = false,
+  use_multi_echo_laser_scan = false,
+  num_point_clouds = 1,
   lookup_transform_timeout_sec = 0.2,
   submap_publish_period_sec = 0.3,
   pose_publish_period_sec = 5e-3,

cartographer_turtlebot/configuration_files/turtlebot_urg_lidar_2d.lua

@@ -21,10 +21,10 @@ options = {
   published_frame = "odom",
   odom_frame = "odom",
   provide_odom_frame = false,
-  use_odometry_data = true,
-  use_horizontal_laser = true,
-  use_horizontal_multi_echo_laser = false,
-  num_lasers_3d = 0,
+  use_odometry = true,
+  use_laser_scan = true,
+  use_multi_echo_laser_scan = false,
+  num_point_clouds = 0,
   lookup_transform_timeout_sec = 0.2,
   submap_publish_period_sec = 0.3,
   pose_publish_period_sec = 5e-3,

scripts/install.bash

@@ -43,6 +43,7 @@ export BUILD_FLAGS="--use-ninja
                     --install-space /opt/cartographer_turtlebot
                     --install"
 catkin_make_isolated ${BUILD_FLAGS}
+catkin_make_isolated ${BUILD_FLAGS} --catkin-make-args run_tests
 
 # Clean up.
 cd ..