2023-06-07 09:44:38 +00:00
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_footprint
scan_topic : /scan
2023-06-20 07:51:32 +00:00
mode : mapping # was localization
2023-06-07 09:44:38 +00:00
# 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 : /home/bjorn/Documents/ros-projects/cps_bot_mini_ws/my_map_serial
# 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
2023-06-20 07:51:32 +00:00
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
2023-06-07 09:44:38 +00:00
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
