Renames turtlebot2 to turtlebot. (#9)

cartographer_turtlebot2/CMakeLists.txt → cartographer_turtlebot/CMakeLists.txt

@@ -14,7 +14,7 @@
 
 cmake_minimum_required(VERSION 2.8.3)
 
-project(cartographer_turtlebot2)
+project(cartographer_turtlebot)
 
 set(PACKAGE_DEPENDENCIES
   roscpp

cartographer_turtlebot/configuration_files/turtlebot_urg_lidar_2d.lua

@@ -0,0 +1,45 @@
+-- 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.
+
+include "map_builder.lua"
+
+options = {
+  map_builder = MAP_BUILDER,
+  map_frame = "map",
+  tracking_frame = "gyro_link",
+  published_frame = "odom",
+  odom_frame = "odom",
+  provide_odom_frame = false,
+  use_odometry_data = true,
+  use_constant_odometry_variance = true,
+  constant_odometry_translational_variance = 1e-7,
+  constant_odometry_rotational_variance = 1e-7,
+  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.,
+  num_lasers_3d = 0,
+  lookup_transform_timeout_sec = 0.2,
+  submap_publish_period_sec = 0.3,
+  pose_publish_period_sec = 5e-3,
+}
+
+options.map_builder.use_trajectory_builder_2d = true
+options.map_builder.trajectory_builder_2d.use_imu_data = true
+options.map_builder.trajectory_builder_2d.use_online_correlative_scan_matching = true
+options.map_builder.trajectory_builder_2d.motion_filter.max_angle_radians = math.rad(0.25)
+
+return options

cartographer_turtlebot2/launch/demo_depth_camera_2d.launch → cartographer_turtlebot/launch/demo_depth_camera_2d.launch

@@ -20,11 +20,11 @@
   <node name="cartographer_node" pkg="cartographer_ros"
       type="cartographer_node" args="
           -configuration_directory
-              $(find cartographer_turtlebot2)/configuration_files
-          -configuration_basename turtlebot2_2d.lua"
+              $(find cartographer_turtlebot)/configuration_files
+          -configuration_basename turtlebot_depth_camera_2d.lua"
       output="screen" />
 
-  <node name="flat_world_imu_node" pkg="cartographer_turtlebot2"
+  <node name="flat_world_imu_node" pkg="cartographer_turtlebot"
       type="flat_world_imu_node" output="screen">
     <remap from="imu_in" to="/mobile_base/sensors/imu_data_raw" />
     <remap from="imu_out" to="/imu" />
@@ -36,8 +36,8 @@
   </node>
 
   <node name="rviz" pkg="rviz" type="rviz" required="true"
-      args="-d $(find cartographer_turtlebot2
-          )/configuration_files/demo_turtlebot2.rviz" />
+      args="-d $(find cartographer_turtlebot
+          )/configuration_files/demo_turtlebot.rviz" />
   <node name="playbag" pkg="rosbag" type="play"
       args="--clock $(arg bag_filename)" />
 </launch>

cartographer_turtlebot2/launch/demo_depth_camera_3d.launch → cartographer_turtlebot/launch/demo_depth_camera_3d.launch

@@ -20,11 +20,11 @@
   <node name="cartographer_node" pkg="cartographer_ros"
       type="cartographer_node" args="
           -configuration_directory
-              $(find cartographer_turtlebot2)/configuration_files
-          -configuration_basename turtlebot2_3d.lua"
+              $(find cartographer_turtlebot)/configuration_files
+          -configuration_basename turtlebot_depth_camera_3d.lua"
       output="screen" />
 
-  <node name="flat_world_imu_node" pkg="cartographer_turtlebot2"
+  <node name="flat_world_imu_node" pkg="cartographer_turtlebot"
       type="flat_world_imu_node" output="screen">
     <remap from="imu_in" to="/mobile_base/sensors/imu_data_raw" />
     <remap from="imu_out" to="/imu" />
@@ -51,8 +51,8 @@
   </node>
 
   <node name="rviz" pkg="rviz" type="rviz" required="true"
-      args="-d $(find cartographer_turtlebot2
-          )/configuration_files/demo_turtlebot2.rviz" />
+      args="-d $(find cartographer_turtlebot
+          )/configuration_files/demo_turtlebot.rviz" />
   <node name="playbag" pkg="rosbag" type="play"
       args="--clock $(arg bag_filename)" />
 </launch>

cartographer_turtlebot2/launch/demo_lidar_2d.launch → cartographer_turtlebot/launch/demo_lidar_2d.launch

@@ -20,21 +20,21 @@
   <node name="cartographer_node" pkg="cartographer_ros"
       type="cartographer_node" args="
           -configuration_directory
-              $(find cartographer_turtlebot2)/configuration_files
-          -configuration_basename turtlebot2_2d.lua"
+              $(find cartographer_turtlebot)/configuration_files
+          -configuration_basename turtlebot_urg_lidar_2d.lua"
       output="screen">
     <remap from="scan" to="/laser_scan" />
   </node>
 
-  <node name="flat_world_imu_node" pkg="cartographer_turtlebot2"
+  <node name="flat_world_imu_node" pkg="cartographer_turtlebot"
       type="flat_world_imu_node" output="screen">
     <remap from="imu_in" to="/mobile_base/sensors/imu_data_raw" />
     <remap from="imu_out" to="/imu" />
   </node>
 
   <node name="rviz" pkg="rviz" type="rviz" required="true"
-      args="-d $(find cartographer_turtlebot2
-          )/configuration_files/demo_turtlebot2.rviz" />
+      args="-d $(find cartographer_turtlebot
+          )/configuration_files/demo_turtlebot.rviz" />
   <node name="playbag" pkg="rosbag" type="play"
       args="--clock $(arg bag_filename)" />
 </launch>

cartographer_turtlebot2/launch/turtlebot2.launch → cartographer_turtlebot/launch/turtlebot.launch

@@ -22,13 +22,13 @@
   <node name="cartographer_node" pkg="cartographer_ros"
       type="cartographer_node" args="
           -configuration_directory
-              $(find cartographer_turtlebot2)/configuration_files
+              $(find cartographer_turtlebot)/configuration_files
           -configuration_basename $(arg configuration_basename)"
       output="screen">
     <remap from="points2" to="/camera/depth/points" />
   </node>
 
-  <node name="flat_world_imu_node" pkg="cartographer_turtlebot2"
+  <node name="flat_world_imu_node" pkg="cartographer_turtlebot"
       type="flat_world_imu_node" output="screen">
     <remap from="imu_in" to="/mobile_base/sensors/imu_data_raw" />
     <remap from="imu_out" to="/imu" />

cartographer_turtlebot2/launch/turtlebot2_depth_camera_2d.launch → cartographer_turtlebot/launch/turtlebot_depth_camera_2d.launch

@@ -21,7 +21,7 @@
   <param name="/depthimage_to_laserscan/output_frame_id"
       value="camera_depth_frame" />
 
-  <include file="$(find cartographer_turtlebot2)/launch/turtlebot2.launch">
-    <arg name="configuration_basename" value="turtlebot2_2d.lua" />
+  <include file="$(find cartographer_turtlebot)/launch/turtlebot.launch">
+    <arg name="configuration_basename" value="turtlebot_depth_camera_2d.lua" />
   </include>
 </launch>

cartographer_turtlebot2/launch/turtlebot2_depth_camera_3d.launch → cartographer_turtlebot/launch/turtlebot_depth_camera_3d.launch

@@ -18,7 +18,7 @@
   <param name="/camera/driver/data_skip" value="1" />
   <include file="$(find turtlebot_bringup)/launch/3dsensor.launch" />
 
-  <include file="$(find cartographer_turtlebot2)/launch/turtlebot2.launch">
-    <arg name="configuration_basename" value="turtlebot2_3d.lua" />
+  <include file="$(find cartographer_turtlebot)/launch/turtlebot.launch">
+    <arg name="configuration_basename" value="turtlebot_depth_camera_3d.lua" />
   </include>
 </launch>

cartographer_turtlebot2/launch/turtlebot2_urg_lidar_2d.launch → cartographer_turtlebot/launch/turtlebot_urg_lidar_2d.launch

@@ -18,7 +18,7 @@
   <param name="urg_node/frame_id" value="plate_top_link" />
   <node name="urg_node" pkg="urg_node" type="urg_node" />
 
-  <include file="$(find cartographer_turtlebot2)/launch/turtlebot2.launch">
-    <arg name="configuration_basename" value="turtlebot2_2d.lua" />
+  <include file="$(find cartographer_turtlebot)/launch/turtlebot.launch">
+    <arg name="configuration_basename" value="turtlebot_urg_lidar_2d.lua" />
   </include>
 </launch>

cartographer_turtlebot2/package.xml → cartographer_turtlebot/package.xml

@@ -16,10 +16,10 @@
 -->
 
 <package format="2">
-  <name>cartographer_turtlebot2</name>
+  <name>cartographer_turtlebot</name>
   <version>1.0.0</version>
   <description>
-    TurtleBot 2 configurations and launch files.
+    Cartographer configurations and launch files for TurtleBots.
   </description>
   <maintainer email="google-cartographer@googlegroups.com">
     The Cartographer Authors