cartographer/configuration_files/trajectory_builder.lua

Overview

Shared configuration for trajectory builders (both 2D and 3D). Contains common parameters used by both TrajectoryBuilder2D and TrajectoryBuilder3D.

Configuration

TRAJECTORY_BUILDER = {
  pure_localization = false,
  pure_localization_trimmer = {
    max_submaps_to_keep = 3,
  },
}

Parameters

Parameter

Type

Default

Description

pure_localization

bool

false

Enable pure localization mode (no mapping)

pure_localization_trimmer.max_submaps_to_keep

int

3

Submaps to retain in pure localization

Pure Localization Mode

When pure_localization = true:

  • No new submaps are created

  • Existing map is used for localization only

  • PureLocalizationTrimmer keeps only recent submaps

  • Useful for: repeated runs in known map, multi-session localization

Usage

-- In your robot config
include "trajectory_builder_2d.lua"

TRAJECTORY_BUILDER = {
  pure_localization = true,
  pure_localization_trimmer = {
    max_submaps_to_keep = 5,
  },
}

TRAJECTORY_BUILDER_2D = {
  -- Override 2D params for localization
  ceres_scan_matcher = {
    occupied_space_weight = 20.,
    translation_weight = 100.,
    rotation_weight = 400.,
  },
}

See Also