From e99f8d819d53879f1ec1a9a9cac58e02d9a402eb Mon Sep 17 00:00:00 2001 From: Masayuki Murata Date: Tue, 27 Feb 2024 14:26:35 +0900 Subject: [PATCH] add ignore_out_of_order to cartographer configuration files to prevent the non-sorted sensor data error Signed-off-by: Masayuki Murata --- .../configuration_files/cartographer/cartographer_2d.lua | 1 + .../configuration_files/cartographer/cartographer_2d_mapping.lua | 1 + 2 files changed, 2 insertions(+) diff --git a/mf_localization/configuration_files/cartographer/cartographer_2d.lua b/mf_localization/configuration_files/cartographer/cartographer_2d.lua index 1c7be7a9..3bd0d468 100644 --- 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 index df1d5a7f..5ed1f568 100644 --- 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