Adds spinning lidar example setup

cartographer_ros/configuration_files/robot_spin_lidar.lua

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+-- 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 "trajectory_builder_3d.lua"
+include "sparse_pose_graph.lua"
+
+options = {
+  sparse_pose_graph = SPARSE_POSE_GRAPH,
+  trajectory_builder = TRAJECTORY_BUILDER_3D,
+  map_frame = "map",
+  odom_frame = "odom",
+  tracking_frame = "base_link",
+  provide_odom_frame = false,
+  expect_odometry_data = true,
+  laser_min_range = 0.6,
+  laser_max_range = 30.,
+  laser_missing_echo_ray_length = 1.,
+  num_lasers_3d = 1
+}
+
+options.sparse_pose_graph.optimize_every_n_scans = 320
+options.sparse_pose_graph.constraint_builder.sampling_ratio = 0.03
+options.sparse_pose_graph.optimization_problem.ceres_solver_options.max_num_iterations = 10
+-- Reuse the coarser 3D voxel filter to speed up the computation of loop closure
+-- constraints.
+options.sparse_pose_graph.constraint_builder.adaptive_voxel_filter = TRAJECTORY_BUILDER_3D.high_resolution_adaptive_voxel_filter
+options.sparse_pose_graph.constraint_builder.min_score = 0.62
+options.sparse_pose_graph.constraint_builder.log_matches = true
+
+
+-- Set this depending on the LIDAR rotation rate
+options.trajectory_builder.scans_per_accumulation = 180
+
+return options

cartographer_ros/launch/demo_robot_spin_lidar.launch

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+<!--
+  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.
+-->
+
+<launch>
+  <param name="/use_sim_time" value="true" />
+
+  <include file="$(find cartographer_ros)/launch/robot_spin_lidar.launch" />
+
+  <node name="rviz" pkg="rviz" type="rviz" required="true"
+      args="-d $(find cartographer_ros)/configuration_files/demo_3d.rviz" />
+
+  <node name="playbag" pkg="rosbag" type="play"
+      args="$(arg bag_filename) --clock" />
+
+
+</launch>

cartographer_ros/launch/robot_spin_lidar.launch

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+<!--
+  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.
+-->
+
+<launch>
+  <!--  
+  <param name="robot_description"
+    textfile="$(find cartographer_ros)/urdf/backpack_3d.urdf" />
+
+  <node name="robot_state_publisher" pkg="robot_state_publisher"
+    type="robot_state_publisher" />
+  -->
+
+  <!--Required as cartographer 3D mode only works with point cloud subscribers-->   
+  <node pkg="vigir_laserscan_to_pointcloud" type="laserscan_to_pointcloud_node" name="lidar_to_cloud_converter" respawn="true" output="screen">
+    <param name="min_range" value="1.0" />
+    <param name="use_high_fidelity_projection" value="false" />
+    <param name="target_frame" value="base_link" />
+    <remap from="scan" to="/spin_laser/scan" />
+    <remap from="scan_cloud" to="/spinning_laser_3d" />
+  </node>  
+
+  <node name="cartographer" pkg="cartographer_ros"
+      type="cartographer_node" args="
+          -configuration_directory $(find cartographer_ros)/configuration_files
+          -configuration_basename robot_spin_lidar.lua"
+      output="screen" >
+    <remap from="points2" to="spinning_laser_3d" />
+    <remap from="imu" to="/imu/data" />
+  </node>
+
+</launch>