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update mapper params

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This commit is contained in:
Björn Ellensohn 2023-06-20 09:51:32 +02:00
parent ee06998280
commit 0997283e32
1 changed files with 4 additions and 4 deletions
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8
config/mapper_params_online_async.yaml
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@ -14,7 +14,7 @@ slam_toolbox:
map_frame: map map_frame: map
base_frame: base_footprint base_frame: base_footprint
scan_topic: /scan scan_topic: /scan
mode: localization mode: mapping # was localization
# if you'd like to immediately start continuing a map at a given pose # 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 # or at the dock, but they are mutually exclusive, if pose is given
@ -26,9 +26,9 @@ slam_toolbox:
debug_logging: false debug_logging: false
throttle_scans: 1 throttle_scans: 1
transform_publish_period: 0.02 #if 0 never publishes odometry transform_publish_period: 0.02 #if 0 never publishes odometry
map_update_interval: 1.0 #was 5.0 map_update_interval: 5.0 #was 5.0
resolution: 0.05 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: 200.0 #for rastering images, standard was 20 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 minimum_time_interval: 0.5
transform_timeout: 0.2 transform_timeout: 0.2
tf_buffer_duration: 30. tf_buffer_duration: 30.