Setting value for submap resolutions

[kllysin]

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.

1. Should I be adding the submap resplution to the lua file inside options?
2. What is the default value if not set? Does anyone have a sample file?
3. How do I check the resolution for a .pbstream file already generated.

Thanks in advance!

[MichaelGrupp]

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