From 98764f9161ce06b9e4ac410d8142556df45a760a Mon Sep 17 00:00:00 2001
From: Lorenzo Terenzi <lorenzoterenzi96@gmail.com>
Date: Wed, 8 Feb 2023 18:01:39 +0100
Subject: [PATCH 1/2] add example for rsl_heap

---
 .../launch/examples/rsl_heap.launch           | 39 +++++++++++++++++++
 1 file changed, 39 insertions(+)
 create mode 100644 open3d_slam_ros/launch/examples/rsl_heap.launch

diff --git a/open3d_slam_ros/launch/examples/rsl_heap.launch b/open3d_slam_ros/launch/examples/rsl_heap.launch
new file mode 100644
index 0000000..ee4479f
--- /dev/null
+++ b/open3d_slam_ros/launch/examples/rsl_heap.launch
@@ -0,0 +1,39 @@
+<?xml version="1.0" encoding="UTF-8"?>
+
+<launch>
+
+	<arg name="launch_prefix" default="" doc="gdb -ex run --args"/>
+	<arg name="launch_rviz" default="false" />
+	<arg name="cloud_topic" default="/ouster_points_self_filtered" />
+	<arg name="parameter_filename" default="param_ouster_os0_128.lua"/>
+	<arg name="parameter_folder_path" default="$(find open3d_slam_ros)/param/"/>
+	<arg name="map_saving_folder" default="$(find open3d_slam_ros)/data/maps/"/>
+	<arg name="num_accumulated_range_data" default="1"/>
+	<arg name="is_read_from_rosbag" default="false"/>
+	<arg name="rosbag_filepath" default=""/>
+	<arg name="use_sim_time" default="false"/>
+
+
+	<!-- END OF ARGS -->	
+
+	<param name="/use_sim_time" value="$(arg use_sim_time)" />
+			
+	<node name="mapping_node" pkg="open3d_slam_ros"
+		type="mapping_node" output="screen" launch-prefix="$(arg launch_prefix)">
+
+		<param name="cloud_topic" type="string" value="$(arg cloud_topic)" />
+		<param name="parameter_folder_path" type="string" value="$(arg parameter_folder_path)" />
+		<param name="parameter_filename" type="string" value="$(arg parameter_filename)" />
+		<param name="num_accumulated_range_data" value="$(arg num_accumulated_range_data)"/>
+		<param name="is_read_from_rosbag" value="$(arg is_read_from_rosbag)"/>
+		<param name="rosbag_filepath" value="$(arg rosbag_filepath)"/>
+		<param name="map_saving_folder" value="$(arg map_saving_folder)"/>
+	</node>
+
+
+	<include
+		file="$(find open3d_slam_ros)/launch/vis.launch"
+		if="$(arg launch_rviz)">
+	</include>
+
+</launch>
\ No newline at end of file

From 543ca9047c1a8fd1b1edcdc0f0c7dcec6e42cf79 Mon Sep 17 00:00:00 2001
From: Juli <nubertj@ethz.ch>
Date: Thu, 9 Feb 2023 14:45:42 +0100
Subject: [PATCH 2/2] modified configs for heap

---
 open3d_slam_ros/param/param_ouster_os0_128.lua | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/open3d_slam_ros/param/param_ouster_os0_128.lua b/open3d_slam_ros/param/param_ouster_os0_128.lua
index 112f397..f23ef84 100644
--- a/open3d_slam_ros/param/param_ouster_os0_128.lua
+++ b/open3d_slam_ros/param/param_ouster_os0_128.lua
@@ -6,8 +6,10 @@ params = deepcopy(DEFAULT_PARAMETERS)
 --ODOMETRY
 params.odometry.scan_processing.voxel_size = 0.15
 params.odometry.scan_processing.downsampling_ratio = 0.5
+params.odometry.is_publish_odometry_msgs = true
 
 --MAPPER_LOCALIZER
+params.mapper_localizer.is_attempt_loop_closures = false
 params.mapper_localizer.is_merge_scans_into_map = false
 params.mapper_localizer.is_build_dense_map = false
 params.mapper_localizer.is_use_map_initialization = false