Note that cartographer ros integration uses tf2, so all IDs have only one name.
Note that cartographer's topic name type is base, you can use remap in launch to map with the base name.
The following parameter file is the top-level parameter of the configuration file
map_frame : Map coordinate system ID, usually "map"
tracking_frame : The algorithm tracks the coordinate system. If IMU data is used, the coordinate system ID of the IMU is paid to this variable. Usually "imu_link". The tf relationship between the coordinate system and the gear encoder, landmark detector, and imu should be known, because the conversion between them must be continuously detected in the program.
published_frame : Publish the position of the published_frame coordinate system in the map coordinate system
odom_frame : Publish the pose of the odom_frame coordinate system in the map coordinate system, and publish the pose of the published_frame in the odom_frame.
provide_odom_frame : If true, posture of the odom_frame coordinate system in the map coordinate system is released, and false, posture of the published_frame coordinate system in the map coordinate system is released.
publish_frame_projected_to_2d : Whether publish_frame is projected on the XY plane
use_odometry : whether to use gear encoder data
use_nav_sat : whether to use GPS data
use_landmarks : whether to use landmarks
num_laser_scans : number of sensor_msgs / LaserScan type lidar
num_multi_echo_laser_scans : number of sensor_msgs / MultiEchoLaserScan type lidar
num_subdivisions_per_laser_scan : each frame of laser is divided into several parts
num_point_clouds : number of sensor_msgs / PointCloud2 type lidar
lookup_transform_timeout_sec : detect tf transform timeout time
submap_publish_period_sec : Frequency of publishing submap data
pose_publish_period_sec : Publish robot seat and match point cloud frequency
trajectory_publish_period_sec : frequency of publishing path nodes and landmarks
