slam_toolbox:
  ros__parameters:
    # 核心模式设置
    mode: "localization"  # 重要：设置为定位模式
    map_file_name: ""  # 由启动参数传入
    map_start_pose: [0.0, 0.0, 0.0]
    # ROS框架设置
    odom_frame: "odom"
    map_frame: "map"
    base_frame: "base_link"
    scan_topic: "/scan"
    
    # 求解器设置
    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"
    
    # 定位优化参数
    use_scan_matching: true
    use_scan_barycenter: true
    minimum_travel_distance: 0.05
    minimum_travel_heading: 0.087
    
    # 扫描处理
    scan_buffer_size: 20
    throttle_scans: 1
    
    # 回环检测（定位模式可关闭）
    do_loop_closing: false
    
    # 搜索参数
    link_match_minimum_response_fine: 0.2
    link_scan_maximum_distance: 2.0
    loop_search_maximum_distance: 5.0
    
    # 性能参数
    minimum_time_interval: 0.1
    transform_publish_period: 0.02
    map_update_interval: 0.5
    
    # 地图参数
    resolution: 0.05
    max_laser_range: 15.0
    min_laser_range: 0.2
    
    # 初始位姿（可选，可以通过RViz设置）
    # map_start_pose: [0.0, 0.0, 0.0]
    
    # 调试
    debug_logging: false
    enable_interactive_mode: true