Tunes 2D depth camera and LIDAR configurations. (#13)

* Adds gmapping demo launch files for comparison.

cartographer_turtlebot/configuration_files/turtlebot_depth_camera_2d.lua

@@ -28,9 +28,9 @@ options = {
   publish_occupancy_grid = false,
   use_horizontal_laser = true,
   use_horizontal_multi_echo_laser = false,
-  horizontal_laser_min_range = 0.,
-  horizontal_laser_max_range = 30.,
-  horizontal_laser_missing_echo_ray_length = 5.,
+  horizontal_laser_min_range = 0.1,
+  horizontal_laser_max_range = 4.,
+  horizontal_laser_missing_echo_ray_length = 2.,
   num_lasers_3d = 0,
   lookup_transform_timeout_sec = 0.2,
   submap_publish_period_sec = 0.3,
@@ -40,6 +40,11 @@ options = {
 MAP_BUILDER.use_trajectory_builder_2d = true
 TRAJECTORY_BUILDER_2D.use_imu_data = true
 TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true
-TRAJECTORY_BUILDER_2D.motion_filter.max_angle_radians = math.rad(0.25)
+TRAJECTORY_BUILDER_2D.motion_filter.max_time_seconds = 0.25
+TRAJECTORY_BUILDER_2D.motion_filter.max_angle_radians = math.rad(0.1)
+TRAJECTORY_BUILDER_2D.ceres_scan_matcher.covariance_scale = 1e-2
+TRAJECTORY_BUILDER_2D.submaps.num_laser_fans = 300
+SPARSE_POSE_GRAPH.optimize_every_n_scans = 300
+SPARSE_POSE_GRAPH.constraint_builder.min_score = 0.8
 
 return options

cartographer_turtlebot/configuration_files/turtlebot_urg_lidar_2d.lua

@@ -28,8 +28,8 @@ options = {
   publish_occupancy_grid = false,
   use_horizontal_laser = true,
   use_horizontal_multi_echo_laser = false,
-  horizontal_laser_min_range = 0.,
-  horizontal_laser_max_range = 30.,
+  horizontal_laser_min_range = 0.1,
+  horizontal_laser_max_range = 8.,
   horizontal_laser_missing_echo_ray_length = 5.,
   num_lasers_3d = 0,
   lookup_transform_timeout_sec = 0.2,
@@ -40,6 +40,6 @@ options = {
 MAP_BUILDER.use_trajectory_builder_2d = true
 TRAJECTORY_BUILDER_2D.use_imu_data = true
 TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true
-TRAJECTORY_BUILDER_2D.motion_filter.max_angle_radians = math.rad(0.25)
+TRAJECTORY_BUILDER_2D.motion_filter.max_angle_radians = math.rad(0.1)
 
 return options

cartographer_turtlebot/launch/demo_gmapping_depth_camera_2d.launch

@@ -0,0 +1,33 @@
+<!--
+  Copyright 2016 The Cartographer Authors
+
+  Licensed under the Apache License, Version 2.0 (the "License");
+  you may not use this file except in compliance with the License.
+  You may obtain a copy of the License at
+
+       http://www.apache.org/licenses/LICENSE-2.0
+
+  Unless required by applicable law or agreed to in writing, software
+  distributed under the License is distributed on an "AS IS" BASIS,
+  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+  See the License for the specific language governing permissions and
+  limitations under the License.
+-->
+
+<launch>
+  <param name="/use_sim_time" value="true" />
+
+  <include file="$(find turtlebot_navigation
+      )/launch/includes/gmapping.launch.xml" />
+
+  <node name="squash_depth_camera" pkg="depthimage_to_laserscan"
+      type="depthimage_to_laserscan">
+    <remap from="image" to="/camera/depth/image_raw" />
+  </node>
+
+  <node name="rviz" pkg="rviz" type="rviz" required="true"
+      args="-d $(find cartographer_turtlebot
+          )/configuration_files/demo_turtlebot.rviz" />
+  <node name="playbag" pkg="rosbag" type="play"
+      args="--clock $(arg bag_filename)" />
+</launch>

cartographer_turtlebot/launch/demo_gmapping_lidar_2d.launch

@@ -0,0 +1,30 @@
+<!--
+  Copyright 2016 The Cartographer Authors
+
+  Licensed under the Apache License, Version 2.0 (the "License");
+  you may not use this file except in compliance with the License.
+  You may obtain a copy of the License at
+
+       http://www.apache.org/licenses/LICENSE-2.0
+
+  Unless required by applicable law or agreed to in writing, software
+  distributed under the License is distributed on an "AS IS" BASIS,
+  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+  See the License for the specific language governing permissions and
+  limitations under the License.
+-->
+
+<launch>
+  <param name="/use_sim_time" value="true" />
+
+  <include file="$(find turtlebot_navigation
+      )/launch/includes/gmapping.launch.xml">
+    <arg name="scan_topic" value="/laser_scan" />
+  </include>
+
+  <node name="rviz" pkg="rviz" type="rviz" required="true"
+      args="-d $(find cartographer_turtlebot
+          )/configuration_files/demo_turtlebot.rviz" />
+  <node name="playbag" pkg="rosbag" type="play"
+      args="--clock $(arg bag_filename)" />
+</launch>