Follow googlecartographer/cartographer_ros#428. (#62)

cartographer_turtlebot/cartographer_turtlebot/configuration_files_test.cc

@@ -20,6 +20,7 @@
 #include "cartographer/common/configuration_file_resolver.h"
 #include "cartographer/common/lua_parameter_dictionary.h"
 #include "cartographer_ros/node_options.h"
+#include "cartographer_ros/trajectory_options.h"
 #include "gtest/gtest.h"
 #include "ros/package.h"
 

cartographer_turtlebot/configuration_files/turtlebot_depth_camera_2d.lua

@@ -26,6 +26,7 @@ options = {
   use_odometry = true,
   use_laser_scan = true,
   use_multi_echo_laser_scan = false,
+  num_subdivisions_per_laser_scan = 1,
   num_point_clouds = 0,
   lookup_transform_timeout_sec = 0.2,
   submap_publish_period_sec = 0.3,

cartographer_turtlebot/configuration_files/turtlebot_depth_camera_3d.lua

@@ -26,6 +26,7 @@ options = {
   use_odometry = true,
   use_laser_scan = false,
   use_multi_echo_laser_scan = false,
+  num_subdivisions_per_laser_scan = 1,
   num_point_clouds = 1,
   lookup_transform_timeout_sec = 0.2,
   submap_publish_period_sec = 0.3,

cartographer_turtlebot/configuration_files/turtlebot_urg_lidar_2d.lua

@@ -26,6 +26,7 @@ options = {
   use_odometry = true,
   use_laser_scan = true,
   use_multi_echo_laser_scan = false,
+  num_subdivisions_per_laser_scan = 1,
   num_point_clouds = 0,
   lookup_transform_timeout_sec = 0.2,
   submap_publish_period_sec = 0.3,