Add sensor sampling ratio options (#72)

cartographer_turtlebot/configuration_files/turtlebot_depth_camera_2d.lua

@@ -32,6 +32,9 @@ options = {
   submap_publish_period_sec = 0.3,
   pose_publish_period_sec = 5e-3,
   trajectory_publish_period_sec = 30e-3,
+  rangefinder_sampling_ratio = 1.,
+  odometry_sampling_ratio = 1.,
+  imu_sampling_ratio = 1.,
 }
 
 MAP_BUILDER.use_trajectory_builder_2d = true

cartographer_turtlebot/configuration_files/turtlebot_depth_camera_3d.lua

@@ -32,6 +32,9 @@ options = {
   submap_publish_period_sec = 0.3,
   pose_publish_period_sec = 5e-3,
   trajectory_publish_period_sec = 30e-3,
+  rangefinder_sampling_ratio = 1.,
+  odometry_sampling_ratio = 1.,
+  imu_sampling_ratio = 1.,
 }
 
 MAP_BUILDER.use_trajectory_builder_3d = true

cartographer_turtlebot/configuration_files/turtlebot_urg_lidar_2d.lua

@@ -32,6 +32,9 @@ options = {
   submap_publish_period_sec = 0.3,
   pose_publish_period_sec = 5e-3,
   trajectory_publish_period_sec = 30e-3,
+  rangefinder_sampling_ratio = 1.,
+  odometry_sampling_ratio = 1.,
+  imu_sampling_ratio = 1.,
 }
 
 MAP_BUILDER.use_trajectory_builder_2d = true