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I am new to this so apologies in advance if the question is too simple. I am trying to perform pure localization. I want to set the submap resolution parameter. I have set the lua and urdf files.
Should I be adding the submap resplution to the lua file inside options?
What is the default value if not set? Does anyone have a sample file?
How do I check the resolution for a .pbstream file already generated.
Thanks in advance!
The text was updated successfully, but these errors were encountered:
1. Should I be adding the submap resplution to the lua file inside options?
Yes, you can override TRAJECTORY_BUILDER_2D.submaps.grid_options_2d.resolution = <your resolution>
2. What is the default value if not set? Does anyone have a sample file?
If you inherit the base config (as it's done in all examples), the default value is this one, unless it was overriden by another value.
A pull request for a tool that simplifies checking the final configuration is here: #1508
3. How do I check the resolution for a .pbstream file already generated.
There's the possibility to run cartographer_pbstream info <your pbstream file>. But this doesn't print all the options at the moment. A pull request to save all map builder options is here: #1504
Hi!
I am new to this so apologies in advance if the question is too simple. I am trying to perform pure localization. I want to set the submap resolution parameter. I have set the lua and urdf files.
Thanks in advance!
The text was updated successfully, but these errors were encountered: