launch file and rviz file for slam

.gitignore

@@ -1,3 +1,4 @@
 *.bin
 *.ppm
 *.bag
+*.vscode

realsense_ros/config/d435.yaml

@@ -4,7 +4,7 @@
       serial_no: 819312071869 # d435
       base_frame_id: d435_link
       align_depth: false
-      enable_pointcloud: false
+      enable_pointcloud: true
       dense_pointcloud: true
       color0:
         enabled: true

realsense_ros/config/rs_cartographer.lua

@@ -0,0 +1,69 @@
+-- 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.
+
+-- /* Author: Darby Lim */
+
+include "map_builder.lua"
+include "trajectory_builder.lua"
+
+options = {
+  map_builder = MAP_BUILDER,
+  trajectory_builder = TRAJECTORY_BUILDER,
+  map_frame = "map",
+  tracking_frame = "camera_pose_optical_frame",
+  published_frame = "odom_frame",
+  odom_frame = "odom_frame",
+  provide_odom_frame = false,
+  publish_frame_projected_to_2d = true,
+  use_odometry = true,
+  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 = 0.05,
+  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.,
+}
+
+MAP_BUILDER.use_trajectory_builder_2d = true
+
+TRAJECTORY_BUILDER_2D.min_range = 0.12
+TRAJECTORY_BUILDER_2D.max_range = 3.
+TRAJECTORY_BUILDER_2D.missing_data_ray_length = 4.
+TRAJECTORY_BUILDER_2D.use_imu_data = false
+TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = false 
+TRAJECTORY_BUILDER_2D.motion_filter.max_angle_radians = math.rad(0.07)
+TRAJECTORY_BUILDER_2D.ceres_scan_matcher.translation_weight = 300
+TRAJECTORY_BUILDER_2D.ceres_scan_matcher.rotation_weight = 150
+TRAJECTORY_BUILDER_2D.submaps.grid_options_2d.resolution = 0.035
+TRAJECTORY_BUILDER_2D.submaps.num_range_data = 350
+POSE_GRAPH.constraint_builder.sampling_ratio = 0.9
+
+POSE_GRAPH.optimization_problem.huber_scale = 1
+POSE_GRAPH.constraint_builder.min_score = 0.7
+
+POSE_GRAPH.constraint_builder.global_localization_min_score = 0.8
+POSE_GRAPH.constraint_builder.loop_closure_translation_weight = 300 
+POSE_GRAPH.constraint_builder.loop_closure_rotation_weight = 50
+POSE_GRAPH.optimize_every_n_nodes = 150
+
+return options