68 lines
2.4 KiB
YAML
68 lines
2.4 KiB
YAML
|
slam_toolbox:
|
||
|
|
ros__parameters:
|
||
|
|
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
|
||
|
|
scan_topic: /scan
|
||
|
|
mode: localization #mapping
|
||
|
|
|
||
|
|
# if you'd like to start localizing on bringup in a map and pose
|
||
|
|
#map_file_name: test_steve
|
||
|
|
#map_start_pose: [5.0, 1.0, 0.0]
|
||
|
|
|
||
|
|
debug_logging: false
|
||
|
|
throttle_scans: 1
|
||
|
|
transform_publish_period: 0.02 #if 0 never publishes odometry
|
||
|
|
map_update_interval: 5.0 #was 5.0
|
||
|
|
resolution: 0.015 # was 0.05 --> set to 0.015 for 15 mm data resolution according https://de.aliexpress.com/item/1005004178345980.html?gatewayAdapt=glo2deu
|
||
|
|
max_laser_range: 25 #for rastering images, standard was 20 --> according to datsheet 25m https://de.aliexpress.com/item/1005004178345980.html?gatewayAdapt=glo2deu
|
||
|
|
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: 3
|
||
|
|
scan_buffer_maximum_scan_distance: 10.0
|
||
|
|
link_match_minimum_response_fine: 0.1
|
||
|
|
link_scan_maximum_distance: 1.5
|
||
|
|
do_loop_closing: true
|
||
|
|
loop_match_minimum_chain_size: 3
|
||
|
|
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
|
||
|
|
loop_search_maximum_distance: 3.0
|
||
|
|
|
||
|
|
# 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
|