From 0997283e321554190c462139428e27d36a8f78d0 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= Date: Tue, 20 Jun 2023 09:51:32 +0200 Subject: [PATCH] update mapper params --- config/mapper_params_online_async.yaml | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/config/mapper_params_online_async.yaml b/config/mapper_params_online_async.yaml index c50ffda..61542fa 100644 --- a/config/mapper_params_online_async.yaml +++ b/config/mapper_params_online_async.yaml @@ -14,7 +14,7 @@ slam_toolbox: map_frame: map base_frame: base_footprint scan_topic: /scan - mode: localization + mode: mapping # was 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 @@ -26,9 +26,9 @@ slam_toolbox: debug_logging: false throttle_scans: 1 transform_publish_period: 0.02 #if 0 never publishes odometry - map_update_interval: 1.0 #was 5.0 - resolution: 0.05 - max_laser_range: 200.0 #for rastering images, standard was 20 + 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.