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

options = {
  map_builder = MAP_BUILDER,
  trajectory_builder = TRAJECTORY_BUILDER,
  map_frame = "map",
  tracking_frame = "base_link",
  published_frame = "odom",
  odom_frame = "odom",
  provide_odom_frame = false,
  publish_frame_projected_to_2d = false,
  use_pose_extrapolator = true,
  use_odometry = false,
  use_nav_sat = false,
  use_landmarks = false,
  num_laser_scans = 1,
  num_multi_echo_laser_scans = 0,
  num_subdivisions_per_laser_scan = 1,
  num_point_clouds = 0,
  lookup_transform_timeout_sec = 0.2,
  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.,
  fixed_frame_pose_sampling_ratio = 1.,
  imu_sampling_ratio = 1.,
  landmarks_sampling_ratio = 1.,
}

-- Read detailed docs
-- https://google-cartographer-ros.readthedocs.io/en/latest/algo_walkthrough.html

MAP_BUILDER.use_trajectory_builder_2d = true		-- Use trajectory builder in 2D (not 3D)
TRAJECTORY_BUILDER_2D.min_range = 0.06			-- Min range of LIDAR
TRAJECTORY_BUILDER_2D.max_range = 6. 			-- Update this value with the correct one, find hokuyo UTX-30 specs
TRAJECTORY_BUILDER_2D.missing_data_ray_length = 8.5	-- Match this with the new value above
TRAJECTORY_BUILDER_2D.use_imu_data = false		-- Change this to true to use the IMU data
TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = false     -- False to use CERES scan matching
TRAJECTORY_BUILDER_2D.motion_filter.max_angle_radians = math.rad(0.2)	-- after how much motion a new frame is added to the submap
TRAJECTORY_BUILDER_2D.motion_filter.max_distance_meters = 0.3
TRAJECTORY_BUILDER_2D.submaps.num_range_data = 200	-- How many scans in one submap, must not be too large or too small
POSE_GRAPH.optimize_every_n_nodes = 1000 		-- Decrease this value to perform the global optimization more frequently


-- Additional arguments that may be used (check the values first):
-- TRAJECTORY_BUILDER_2D.ceres_scan_matcher.occupied_space_weight = 10
-- TRAJECTORY_BUILDER_2D.ceres_scan_matcher.translation_weight = 10
-- TRAJECTORY_BUILDER_2D.ceres_scan_matcher.rotation_weight = 50                -- prioritize rotational alignment over translational alignment
-- TRAJECTORY_BUILDER_2D.ceres_scan_matcher.ceres_solver_options.max_num_iterations = 1000
-- POSE_GRAPH.optimization_problem.rotation_weight = 1e5        -- Increase to allow for sharper rotations
-- POSE_GRAPH.constraint_builder.min_score = 0.55
-- POSE_GRAPH.constraint_builder.global_localization_min_score = 0.6

return options
