adding config files and launch files for lifelong

config/mapper_params_lifelong.yaml

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+
+# link_match_minimum_response_fine: 0.4 
+# link_scan_maximum_distance: 20.0
+# loop_search_maximum_distance: 50.0
+# distance_variance_penalty: 1.8             
+# angle_variance_penalty: 0.20    
+# minimum_angle_penalty: 1.6 #0.9
+
+# Plugin params
+solver_plugin: solver_plugins::CeresSolver
+ceres_linear_solver: SPARSE_NORMAL_CHOLESKY
+ceres_preconditioner: SCHUR_JACOBI
+ceres_trust_strategy: LEVENBERG_MARQUARDT
+ceres_dogleg_type: TRADITIONAL_DOGLEG
+ceres_loss_function: None
+
+# ROS Parameters
+odom_frame: odom
+map_frame: map
+base_frame: base_footprint
+mode: mapping #localization
+
+# lifelong params
+lifelong_search_use_tree: true
+lifelong_minimum_score: 0.1
+lifelong_iou_match: 0.75
+lifelong_node_removal_score: 0.1
+lifelong_overlap_score_scale: 0.5
+lifelong_constraint_multiplier: 0.05
+lifelong_nearby_penalty: 0.001
+
+# if you'd like to immediately start continuing a map at a given pose
+# or at the dock, but they are mutually exclusive, if pose is given
+# will use pose
+#map_file_name: test_steve
+#map_start_pose: [0.0, 0.0, 0.0]
+#map_start_at_dock: true
+
+debug_logging: false
+throttle_scans: 1
+transform_publish_period: 0.02 #if 0 never publishes odometry
+map_update_interval: 5.0
+resolution: 0.05
+max_laser_range: 20.0 #for rastering images
+minimum_time_interval: 0.5
+transform_timeout: 0.2
+tf_buffer_duration: 10.
+stack_size_to_use: 40000000 #// program needs a larger stack size to serialize large maps
+
+# General Parameters
+use_scan_matching: true
+use_scan_barycenter: true
+minimum_travel_distance: 0.5
+minimum_travel_heading: 0.5
+scan_buffer_size: 10
+scan_buffer_maximum_scan_distance: 10
+link_match_minimum_response_fine: 0.1  
+link_scan_maximum_distance: 1.5
+loop_search_maximum_distance: 3.0
+do_loop_closing: true 
+loop_match_minimum_chain_size: 10           
+loop_match_maximum_variance_coarse: 3.0  
+loop_match_minimum_response_coarse: 0.35    
+loop_match_minimum_response_fine: 0.45
+
+# Correlation Parameters - Correlation Parameters
+correlation_search_space_dimension: 0.5
+correlation_search_space_resolution: 0.01
+correlation_search_space_smear_deviation: 0.1 
+
+# Correlation Parameters - Loop Closure Parameters
+loop_search_space_dimension: 8.0
+loop_search_space_resolution: 0.05
+loop_search_space_smear_deviation: 0.03
+
+# Scan Matcher Parameters
+distance_variance_penalty: 0.5      
+angle_variance_penalty: 1.0    
+
+fine_search_angle_offset: 0.00349     
+coarse_search_angle_offset: 0.349   
+coarse_angle_resolution: 0.0349        
+minimum_angle_penalty: 0.9
+minimum_distance_penalty: 0.5
+use_response_expansion: true

launch/lifelong.launch

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+<launch>
+
+  <node pkg="slam_toolbox" type="lifelong_slam_toolbox_node" name="lifelong_slam_toolbox_node" output="screen">
+    <rosparam command="load" file="$(find slam_toolbox)/config/mapper_params_lifelong.yaml" />
+  </node>
+
+</launch>