feat(slam): add cartographer_ros

cartographer/configuration_files/map_builder.lua

@@ -0,0 +1,23 @@
+-- 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.
+
+include "pose_graph.lua"
+
+MAP_BUILDER = {
+  use_trajectory_builder_2d = false,
+  use_trajectory_builder_3d = false,
+  num_background_threads = 4,
+  pose_graph = POSE_GRAPH,
+  collate_by_trajectory = false,
+}