add ignore_out_of_order to cartographer configuration files to preven…

…t the non-sorted sensor data error Signed-off-by: Masayuki Murata <[email protected]>
CMU-cabot · Feb 27, 2024 · e99f8d8 · e99f8d8
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diff --git a/mf_localization/configuration_files/cartographer/cartographer_2d.lua b/mf_localization/configuration_files/cartographer/cartographer_2d.lua
@@ -49,6 +49,7 @@ options = {
   fixed_frame_pose_sampling_ratio = 1.,
   imu_sampling_ratio = 1.,
   landmarks_sampling_ratio = 1.,
+  ignore_out_of_order = true, -- option added by https://github.com/cartographer-project/cartographer_ros/pull/1737
 }
 
 MAP_BUILDER.use_trajectory_builder_2d = true

diff --git a/mf_localization_mapping/configuration_files/cartographer/cartographer_2d_mapping.lua b/mf_localization_mapping/configuration_files/cartographer/cartographer_2d_mapping.lua
@@ -49,6 +49,7 @@ options = {
   fixed_frame_pose_sampling_ratio = 1.,
   imu_sampling_ratio = 1.,
   landmarks_sampling_ratio = 1.,
+  ignore_out_of_order = true, -- option added by https://github.com/cartographer-project/cartographer_ros/pull/1737
 }
 
 MAP_BUILDER.use_trajectory_builder_2d = true