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Raise 2D resolution to match map resolution

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rotu committed Jul 15, 2019
1 parent bb742f6 commit 0c47ec7deb396610037ad26c35d774f1014977b4
Showing with 1 addition and 2 deletions.
  1. +1 −2 openrover_demo/config/cartographer.lua
@@ -52,10 +52,9 @@ TRAJECTORY_BUILDER_2D.missing_data_ray_length = 3.
TRAJECTORY_BUILDER_2D.use_imu_data = false
TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true
TRAJECTORY_BUILDER_2D.motion_filter.max_angle_radians = math.rad(0.1)
TRAJECTORY_BUILDER_2D.submaps.grid_options_2d.resolution = 0.02

POSE_GRAPH.constraint_builder.min_score = 0.65
POSE_GRAPH.constraint_builder.global_localization_min_score = 0.7

-- POSE_GRAPH.optimize_every_n_nodes = 0

return options

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