Track cartographer_ros#436. (#64)

cartographer_turtlebot/launch/demo_depth_camera_2d.launch

@@ -24,6 +24,9 @@
           -configuration_basename turtlebot_depth_camera_2d.lua"
       output="screen" />
 
+  <node name="cartographer_occupancy_grid_node" pkg="cartographer_ros"
+      type="cartographer_occupancy_grid_node" args="-resolution 0.05" />
+
   <node name="flat_world_imu_node" pkg="cartographer_turtlebot"
       type="cartographer_flat_world_imu_node" output="screen">
     <remap from="imu_in" to="/mobile_base/sensors/imu_data_raw" />

cartographer_turtlebot/launch/demo_depth_camera_3d.launch

@@ -24,6 +24,9 @@
           -configuration_basename turtlebot_depth_camera_3d.lua"
       output="screen" />
 
+  <node name="cartographer_occupancy_grid_node" pkg="cartographer_ros"
+      type="cartographer_occupancy_grid_node" args="-resolution 0.035" />
+
   <node name="flat_world_imu_node" pkg="cartographer_turtlebot"
       type="cartographer_flat_world_imu_node" output="screen">
     <remap from="imu_in" to="/mobile_base/sensors/imu_data_raw" />

cartographer_turtlebot/launch/demo_lidar_2d.launch

@@ -37,4 +37,7 @@
           )/configuration_files/demo_turtlebot.rviz" />
   <node name="playbag" pkg="rosbag" type="play"
       args="--clock $(arg bag_filename)" />
+
+  <node name="cartographer_occupancy_grid_node" pkg="cartographer_ros"
+      type="cartographer_occupancy_grid_node" args="-resolution 0.05" />
 </launch>

cartographer_turtlebot/launch/turtlebot.launch

@@ -33,4 +33,7 @@
     <remap from="imu_in" to="/mobile_base/sensors/imu_data_raw" />
     <remap from="imu_out" to="/imu" />
   </node>
+
+  <node name="cartographer_occupancy_grid_node" pkg="cartographer_ros"
+      type="cartographer_occupancy_grid_node" args="-resolution 0.05" />
 </launch>