| 1234567891011121314151617181920212223242526272829303132333435363738394041424344454647484950515253545556575859606162636465666768697071727374757677787980 |
- # Copyright (c) Contributors to the Open 3D Engine Project.
- # For complete copyright and license terms please see the LICENSE at the root of this distribution.
- #
- # SPDX-License-Identifier: Apache-2.0 OR MIT
- #
- #
- slam_toolbox:
- ros__parameters:
- # 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_link
- scan_topic: /scan
- mode: mapping #localization
- # 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: 30.
- stack_size_to_use: 40000000 #// program needs a larger stack size to serialize large maps
- enable_interactive_mode: true
- # 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: 10.0
- 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
|
