include "map_builder.lua"  
include "trajectory_builder.lua"  

options = {
  map_builder = MAP_BUILDER,  
  trajectory_builder = TRAJECTORY_BUILDER,  
  map_frame = "map",  -- ͼ֡
  tracking_frame = "imu_link",  -- ֡
  published_frame = "base_link",  -- ֡
  odom_frame = "odom",  -- ̼֡
  provide_odom_frame = true,  -- Ƿṩ̼֡
  publish_frame_projected_to_2d = false,  -- Ƿ񷢲2d̬
  use_pose_extrapolator = true,  -- 켣
  use_odometry = false,  -- Ƿʹ̼
  use_nav_sat = false,  -- Ƿʹõ
  use_landmarks = false,  -- Ƿʹõر
  num_laser_scans = 1,  -- ״
  num_multi_echo_laser_scans = 0,  -- ز״
  num_subdivisions_per_laser_scan = 2,  -- ÿɨϸ
  num_point_clouds = 0,  -- Ƶ
  lookup_transform_timeout_sec = 0.2,  -- ұ任ĳʱʱ䣨룩
  submap_publish_period_sec = 0.3,  -- ӵͼڣ룩
  pose_publish_period_sec = 10e-3,  -- ̬ڣ룩
  trajectory_publish_period_sec = 50e-3,  -- 켣ڣ룩
  rangefinder_sampling_ratio = 1.,  -- ǲ
  odometry_sampling_ratio = 1.,  -- ̼Ʋ
  fixed_frame_pose_sampling_ratio = 1.,  -- ̶̬֡
  imu_sampling_ratio = 1.,  -- IMU
  landmarks_sampling_ratio = 1.,  -- ر
}
 
MAP_BUILDER.use_trajectory_builder_2d = true  -- Ƿ2D SLAM
TRAJECTORY_BUILDER_2D.submaps.num_range_data = 35  -- 2D켣ӵͼķΧ
TRAJECTORY_BUILDER_2D.min_range = 0.2  -- ״Сɨ跶ΧȻ˰뾶СĶ
TRAJECTORY_BUILDER_2D.max_range = 10  -- ״ɨ跶Χ
TRAJECTORY_BUILDER_2D.missing_data_ray_length = 5.  -- ״ɨ跶Χ
TRAJECTORY_BUILDER_2D.use_imu_data = true  -- ǷʹIMU
TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true  -- Ƿʹʵʱػɨƥ
TRAJECTORY_BUILDER_2D.imu_gravity_time_constant = 15.0  -- ٶʱ䳣

TRAJECTORY_BUILDER_2D.motion_filter.max_angle_radians = math.rad(0.1)  -- 1.0ĳ0.1,߶˶ж
POSE_GRAPH.constraint_builder.min_score = 0.65  -- 0.55ĳ0.65,Fast csmͷڴ˷ŽŻ
POSE_GRAPH.constraint_builder.global_localization_min_score = 0.8  --0.6ĳ0.7,ȫֶλСڴ˷ΪĿǰȫֶλ׼ȷ

return options
