Add sampling ratio options. (#42)

cartographer-project · Sep 29, 2017 · de640dd · de640dd
1 parent 1345833
commit de640dd
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diff --git a/cartographer_toyota_hsr/configuration_files/toyota_hsr_2d.lua b/cartographer_toyota_hsr/configuration_files/toyota_hsr_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

diff --git a/cartographer_toyota_hsr/configuration_files/toyota_hsr_3d.lua b/cartographer_toyota_hsr/configuration_files/toyota_hsr_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