-- 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"

-- Function to check if a topic is being published
function is_topic_published(topic_name)
  local command = "rostopic list"

  local handle = io.popen(command)
  local result = handle:read("*a")
  -- print(".......result: ", result)
  handle:close()

  if string.find(result, topic_name) == nil then
    --print(".............not published")
    return false
  else
    --print(".....hi")
    return true
  end
end

-- check if cv published
local topic_name = "/cv/lane_detections\n" -- DON'T REMOVE THE SPACE AFTER. WE NEED IT
num_scan = 1
if is_topic_published(topic_name) then
  print("......................cv published")
    num_scan = 2
end

print("NUMBER SCAN: ", num_scan)

options = {
  map_builder = MAP_BUILDER,
  trajectory_builder = TRAJECTORY_BUILDER,
  map_frame = "map",
  tracking_frame = "imu_link",
  published_frame = "base_link",
  odom_frame = "odom",
  provide_odom_frame = true,
  publish_tracked_pose = true,
  publish_frame_projected_to_2d = false,
  use_odometry = true,
  use_nav_sat = true,
  use_landmarks = false,
  num_laser_scans = num_scan,
  num_multi_echo_laser_scans = 0,
  num_subdivisions_per_laser_scan = 1,
  num_point_clouds = 0,
  lookup_transform_timeout_sec = 1.,
  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 = 0.5,
  fixed_frame_pose_sampling_ratio = 1.,
  imu_sampling_ratio = 1.,
  landmarks_sampling_ratio = 1.,
}

MAP_BUILDER.use_trajectory_builder_2d = true

TRAJECTORY_BUILDER_2D.num_accumulated_range_data = 10

TRAJECTORY_BUILDER_2D.min_range = 0.1
TRAJECTORY_BUILDER_2D.missing_data_ray_length = 3.
TRAJECTORY_BUILDER_2D.use_imu_data = true
TRAJECTORY_BUILDER_2D.ceres_scan_matcher.translation_weight = 10
TRAJECTORY_BUILDER_2D.ceres_scan_matcher.rotation_weight = 15

POSE_GRAPH.constraint_builder.fast_correlative_scan_matcher.angular_search_window = math.rad(15.)
POSE_GRAPH.constraint_builder.fast_correlative_scan_matcher.linear_search_window = 3.

POSE_GRAPH.optimization_problem.huber_scale = 1e2

-----------------TUNE THESE PARAMETERS FOR LOW LATENCY-------------------------------

------------Global SLAM------------
POSE_GRAPH.optimize_every_n_nodes = 90 -- Decrease
POSE_GRAPH.global_sampling_ratio = 0.003 -- Decrease
POSE_GRAPH.constraint_builder.sampling_ratio = 0.4 -- Decrease
POSE_GRAPH.constraint_builder.min_score = 0.85 -- Increase
POSE_GRAPH.global_constraint_search_after_n_seconds = 30 -- Increase

---------Global/Local SLAM---------
TRAJECTORY_BUILDER_2D.submaps.num_range_data = 100 -- Decrease
TRAJECTORY_BUILDER_2D.max_range = 3.5 -- Decrease

-------------------------------------------------------------------------------------

return options
