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On branch master Initial commit Changes to be committed: new file: bashes/README.md new file: bashes/radar-driver-switch.sh new file: dependencies/dependencies.txt new file: src/LSLIDAR_X_ROS2-20240228/src/README.md new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/CMakeLists.txt new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/include/lslidar_driver/input.h new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/include/lslidar_driver/lsiosr.h new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/include/lslidar_driver/lslidar_driver.h new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/launch/lslidar_double_launch.py new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/launch/lsm10_net_launch.py new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/launch/lsm10_uart_launch.py new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/launch/lsm10p_net_launch.py new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/launch/lsm10p_uart_launch.py new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/launch/lsn10_launch.py new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/launch/lsn10_net_launch.py new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/launch/lsn10p_launch.py new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/launch/lsn10p_net_launch.py new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/launch/viewer_scan_launch.py new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/package.xml new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/params/lidar_net_ros2/lsm10_net.yaml new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/params/lidar_net_ros2/lsm10p_net.yaml new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/params/lidar_net_ros2/lsn10_net.yaml new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/params/lidar_net_ros2/lsn10p_net.yaml new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/params/lidar_uart_ros2/lsm10.yaml new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/params/lidar_uart_ros2/lsm10_p.yaml new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/params/lidar_uart_ros2/lsn10.yaml new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/params/lidar_uart_ros2/lsn10p.yaml new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/rviz/lslidar.rviz new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/src/input.cc new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/src/lsiosr.cpp new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/src/lslidar_driver.cc new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/src/lslidar_driver_node.cc new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_msgs/CMakeLists.txt new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_msgs/msg/LslidarDifop.msg new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_msgs/msg/LslidarPacket.msg new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_msgs/msg/LslidarPoint.msg new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_msgs/msg/LslidarScan.msg new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_msgs/msg/LslidarSweep.msg new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_msgs/package.xml new file: src/LSLIDAR_X_ROS2-20240228/src/version.txt new file: src/LSLIDAR_X_ROS2-20240228/src/wheeltec_udev.sh new file: "src/LSLIDAR_X_ROS2-20240228/src/\351\225\255\347\245\236Lsx\351\233\267\350\276\276\346\227\213\350\275\254\350\247\222\345\272\246.png" new file: src/LSLIDAR_X_ROS2-20240228/wheeltec_lidar.launch.py new file: "src/LSLIDAR_X_ROS2-20240228/wheeltec_lidar.launch.py\344\273\205\345\234\250WHEELTEC\351\225\234\345\203\217\344\270\255\344\275\277\347\224\250" new file: src/cyy_navigation2/CMakeLists.txt new file: src/cyy_navigation2/bt/follow_point.xml new file: src/cyy_navigation2/bt/nav_to_pose_with_consistent_replanning_and_if_path_becomes_invalid.xml new file: src/cyy_navigation2/bt/navigate_through_poses_w_replanning_and_recovery.xml new file: src/cyy_navigation2/bt/navigate_to_pose_w_replanning_and_recovery.xml new file: src/cyy_navigation2/bt/navigate_to_pose_w_replanning_goal_patience_and_recovery.xml new file: src/cyy_navigation2/bt/navigate_w_recovery_and_replanning_only_if_path_becomes_invalid.xml new file: src/cyy_navigation2/bt/navigate_w_replanning_distance.xml new file: src/cyy_navigation2/bt/navigate_w_replanning_only_if_goal_is_updated.xml new file: src/cyy_navigation2/bt/navigate_w_replanning_only_if_path_becomes_invalid.xml new file: src/cyy_navigation2/bt/navigate_w_replanning_speed.xml new file: src/cyy_navigation2/bt/navigate_w_replanning_time.xml new file: src/cyy_navigation2/bt/odometry_calibration.xml new file: src/cyy_navigation2/config/nav2_params.yaml new file: src/cyy_navigation2/launch/car_bringup.launch.py new file: src/cyy_navigation2/launch/cyy_nav.launch.py new file: src/cyy_navigation2/launch/cyy_nav_box.launch.py new file: src/cyy_navigation2/maps/cyy_map.data new file: src/cyy_navigation2/maps/cyy_map.pgm new file: src/cyy_navigation2/maps/cyy_map.yaml new file: src/cyy_navigation2/maps/cyy_map1.pgm new file: src/cyy_navigation2/maps/cyy_map1.yaml new file: src/cyy_navigation2/package.xml new file: src/cyy_navigation2/param/nav2_params.yaml new file: src/cyy_navigation2/param/slam_toolbox_localization.yaml new file: src/cyy_slamtoolbox/CMakeLists.txt new file: src/cyy_slamtoolbox/config/angular_filter_example.yaml new file: src/cyy_slamtoolbox/config/box_filter_example.yaml new file: src/cyy_slamtoolbox/config/footprint_filter_example.yaml new file: src/cyy_slamtoolbox/config/intensity_filter_example.yaml new file: src/cyy_slamtoolbox/config/laser_filter_config.yaml new file: src/cyy_slamtoolbox/config/mapper_params_lifelong.yaml new file: src/cyy_slamtoolbox/config/mapper_params_localization.yaml new file: src/cyy_slamtoolbox/config/mapper_params_offline.yaml new file: src/cyy_slamtoolbox/config/mapper_params_online_async.yaml new file: src/cyy_slamtoolbox/config/mapper_params_online_sync.yaml new file: src/cyy_slamtoolbox/config/mask_filter_example.yaml new file: src/cyy_slamtoolbox/config/median_filter_example.yaml new file: src/cyy_slamtoolbox/config/median_spatial_filter_example.yaml new file: src/cyy_slamtoolbox/config/multiple_filters_example.yaml new file: src/cyy_slamtoolbox/config/pass_through_example.yaml new file: src/cyy_slamtoolbox/config/polygon_filter_example.yaml new file: src/cyy_slamtoolbox/config/range_filter_example.yaml new file: src/cyy_slamtoolbox/config/scan_blob_filter_example.yaml new file: src/cyy_slamtoolbox/config/sector_filter_example.yaml new file: src/cyy_slamtoolbox/config/shadow_filter_example.yaml new file: src/cyy_slamtoolbox/config/slam_toolbox_default.rviz new file: src/cyy_slamtoolbox/config/speckle_filter_example.yaml new file: src/cyy_slamtoolbox/launch/cyy_slam_toolbox_launch.launch.py new file: src/cyy_slamtoolbox/launch/cyy_slam_toolbox_location.launch.py new file: src/cyy_slamtoolbox/launch/filter.launch.py new file: src/cyy_slamtoolbox/package.xml new file: src/gc_navigation_fish/CMakeLists.txt new file: src/gc_navigation_fish/launch/gc_navigation.launch.py new file: src/gc_navigation_fish/maps/test_map.pgm new file: src/gc_navigation_fish/maps/test_map.yaml new file: src/gc_navigation_fish/package.xml new file: src/gc_navigation_fish/param/gc_navigation.yaml new file: src/gc_navigation_fish/param/navigation_test.yaml new file: src/gc_slam_toolbox_fish/CMakeLists.txt new file: src/gc_slam_toolbox_fish/config/gc_2d.lua new file: src/gc_slam_toolbox_fish/launch/catograph.launch.py new file: src/gc_slam_toolbox_fish/package.xml new file: src/origincar_base/CMakeLists.txt new file: src/origincar_base/config/ekf.yaml new file: src/origincar_base/config/imu.yaml new file: src/origincar_base/include/origincar_base/Quaternion_Solution.h new file: src/origincar_base/include/origincar_base/origincar_base.h new file: src/origincar_base/launch/__pycache__/testtwo.launch.cpython-38.pyc new file: src/origincar_base/launch/base_serial.launch.py new file: src/origincar_base/launch/ekf.launch.py new file: src/origincar_base/launch/origincar_bringup.launch.py new file: src/origincar_base/launch/robot_mode_description.launch.py new file: src/origincar_base/msg/Position.msg new file: src/origincar_base/package.xml new file: src/origincar_base/scripts/cmd_vel_to_ackermann_drive.py new file: src/origincar_base/src/Quaternion_Solution.cpp new file: src/origincar_base/src/origincar_base.cpp new file: src/origincar_description/CMakeLists.txt new file: src/origincar_description/CMakeLists.txt.save new file: src/origincar_description/config/joint_names_origincar_description.yaml new file: "src/origincar_description/config/joint_names_origincar_description.yaml\357\200\272Zone.Identifier" new file: src/origincar_description/launch/display.launch new file: src/origincar_description/launch/display.launch.py new file: src/origincar_description/launch/gazebo.launch new file: src/origincar_description/launch/gazebo.launch.py new file: src/origincar_description/meshes/base_link.STL new file: "src/origincar_description/meshes/base_link.STL\357\200\272Zone.Identifier" new file: src/origincar_description/meshes/down_left_Link.STL new file: "src/origincar_description/meshes/down_left_Link.STL\357\200\272Zone.Identifier" new file: src/origincar_description/meshes/down_right_Link.STL new file: "src/origincar_description/meshes/down_right_Link.STL\357\200\272Zone.Identifier" new file: src/origincar_description/meshes/up_left_Link.STL new file: "src/origincar_description/meshes/up_left_Link.STL\357\200\272Zone.Identifier" new file: src/origincar_description/meshes/up_right_Link.STL new file: "src/origincar_description/meshes/up_right_Link.STL\357\200\272Zone.Identifier" new file: src/origincar_description/package.xml new file: src/origincar_description/rviz/README new file: src/origincar_description/rviz/display.rviz new file: src/origincar_description/urdf/origincar.urdf new file: src/origincar_description/urdf/origincar.xacro new file: src/origincar_description/world/fishbot.world new file: src/origincar_description/world/gc_world.world new file: src/origincar_description/world/test.world new file: src/origincar_msg/CMakeLists.txt new file: src/origincar_msg/msg/Data.msg new file: src/origincar_msg/msg/Sign.msg new file: src/origincar_msg/package.xml new file: src/zbw_slamtoolbox/CMakeLists.txt new file: src/zbw_slamtoolbox/config/mapper_params_online_async.yaml new file: src/zbw_slamtoolbox/config/mapper_params_online_sync copy.yaml new file: src/zbw_slamtoolbox/config/navigation.yaml new file: src/zbw_slamtoolbox/launch/navigation.launch.py new file: src/zbw_slamtoolbox/launch/slamtoolbox.launch.py new file: src/zbw_slamtoolbox/package.xml new file: zbw_slamtoolbox/CMakeLists.txt new file: zbw_slamtoolbox/config/mapper_params_online_async.yaml new file: zbw_slamtoolbox/config/mapper_params_online_sync copy.yaml new file: zbw_slamtoolbox/config/navigation.yaml new file: zbw_slamtoolbox/launch/navigation.launch.py new file: zbw_slamtoolbox/launch/slamtoolbox.launch.py new file: zbw_slamtoolbox/package.xml Changes not staged for commit: deleted: zbw_slamtoolbox/CMakeLists.txt deleted: zbw_slamtoolbox/config/mapper_params_online_async.yaml deleted: zbw_slamtoolbox/config/mapper_params_online_sync copy.yaml deleted: zbw_slamtoolbox/config/navigation.yaml deleted: zbw_slamtoolbox/launch/navigation.launch.py deleted: zbw_slamtoolbox/launch/slamtoolbox.launch.py deleted: zbw_slamtoolbox/package.xml Untracked files: .gitignore
2026-03-05 10:27:00 +08:00
commit 7fbddb15c2
166 changed files with 12323 additions and 0 deletions
--- a/src/cyy_slamtoolbox/CMakeLists.txt
+++ b/src/cyy_slamtoolbox/CMakeLists.txt
@@ -0,0 +1,61 @@
+# 设置CMake最低版本要求
+cmake_minimum_required(VERSION 3.8)
+# 定义项目名称（应与package.xml中的<name>一致）
+project(cyy_slamtoolbox)
+
+# 如果未设置，默认使用C++17标准
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+endif()
+
+# 查找编译依赖
+find_package(ament_cmake REQUIRED)
+# 查找slam_toolbox包
+find_package(slam_toolbox REQUIRED)
+# 查找其他可能的依赖，如传感器消息、几何库等
+find_package(rclcpp REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(nav_msgs REQUIRED)
+find_package(tf2 REQUIRED)
+find_package(tf2_ros REQUIRED)
+find_package(geometry_msgs REQUIRED)
+
+# 消息输出，用于调试
+message(STATUS "开始配置项目: ${PROJECT_NAME}")
+
+# 包含头文件目录
+include_directories(
+  include
+  ${ament_INCLUDE_DIRS}
+)
+
+# 如果有自定义的C++节点源文件，在此添加可执行文件
+# 例如，如果您有自定义的SLAM处理节点：
+# add_executable(origincar_slam_node src/origincar_slam_node.cpp)
+# ament_target_dependencies(origincar_slam_node 
+#   rclcpp std_msgs sensor_msgs nav_msgs tf2 tf2_ros geometry_msgs slam_toolbox)
+# 
+# 安装目标（将可执行文件安装到lib/<package_name>）
+# install(TARGETS origincar_slam_node
+#   DESTINATION lib/${PROJECT_NAME})
+
+# 安装launch文件到share/<package_name>/launch目录
+install(DIRECTORY launch
+  DESTINATION share/${PROJECT_NAME}
+  PATTERN "*.py"
+)
+
+# 安装配置文件（如YAML参数文件）到share/<package_name>/config目录
+install(DIRECTORY config
+  DESTINATION share/${PROJECT_NAME}
+  PATTERN "*.yaml"
+  PATTERN "*.yml"
+)
+
+
+# 声明ament包依赖关系（确保在package.xml中已声明这些依赖）
+ament_export_dependencies(slam_toolbox rclcpp std_msgs sensor_msgs nav_msgs tf2 tf2_ros geometry_msgs)
+
+# 必须调用此函数来生成必要的CMake配置
+ament_package()
--- a/src/cyy_slamtoolbox/config/angular_filter_example.yaml
+++ b/src/cyy_slamtoolbox/config/angular_filter_example.yaml
@@ -0,0 +1,9 @@
+scan_to_scan_filter_chain:
+  ros__parameters:
+    filter1:
+      name: angle
+      type: laser_filters/LaserScanAngularBoundsFilter
+      params:
+        lower_angle: -1.52
+        upper_angle: 1.52
+        
--- a/src/cyy_slamtoolbox/config/box_filter_example.yaml
+++ b/src/cyy_slamtoolbox/config/box_filter_example.yaml
@@ -0,0 +1,15 @@
+scan_to_scan_filter_chain:
+  ros__parameters:
+    filter1:
+      name: box_filter
+      type: laser_filters/LaserScanBoxFilter
+      params:
+        box_frame: base_link
+        max_x: 0.5
+        max_y: 0.5
+        max_z: 0.5
+        min_x: -0.5
+        min_y: -0.5
+        min_z: -0.5
+        
+        invert: false # activate to remove all points outside of the box
--- a/src/cyy_slamtoolbox/config/footprint_filter_example.yaml
+++ b/src/cyy_slamtoolbox/config/footprint_filter_example.yaml
@@ -0,0 +1,7 @@
+scan_to_scan_filter_chain:
+  ros__parameters:
+    filter1:
+      name: footprint_filter
+      type: laser_filters/LaserScanFootprintFilter
+      params:
+        inscribed_radius: 0.325
--- a/src/cyy_slamtoolbox/config/intensity_filter_example.yaml
+++ b/src/cyy_slamtoolbox/config/intensity_filter_example.yaml
@@ -0,0 +1,9 @@
+scan_to_scan_filter_chain:
+  ros__parameters:
+    filter1:
+      name: intensity
+      type: laser_filters/LaserScanIntensityFilter
+      params:
+        lower_threshold: 8000.
+        upper_threshold: 100000.
+        disp_histogram: 0
--- a/src/cyy_slamtoolbox/config/laser_filter_config.yaml
+++ b/src/cyy_slamtoolbox/config/laser_filter_config.yaml
@@ -0,0 +1,19 @@
+scan_filter_chain:
+  - name: angle_bounds
+    type: laser_filters/LaserScanAngularBoundsFilter
+    params:
+      # 示例：如果您只想处理前方180度的数据，可以设置为：
+      lower_angle: -1.57  # 约-90度
+      upper_angle: 1.57   # 约90度
+
+  - name: range_filter
+    type: laser_filters/LaserScanRangeFilter
+    params:
+      # 过滤掉无效的距离值，这对于SLAM非常重要
+      lower_threshold: 0.2   # 忽略小于0.2米的测量（如雷达自身的噪声）
+      upper_threshold: 20.0  # 忽略大于20.0米的测量（通常是不稳定的数据）
+      use_message_range_limits: false
+
+  - name: interpolation
+    type: laser_filters/InterpolationFilter
+    # 此滤波器没有参数，它会自动对因过滤产生的无效值（如NaN）进行插值修复[1](@ref)
--- a/src/cyy_slamtoolbox/config/mapper_params_lifelong.yaml
+++ b/src/cyy_slamtoolbox/config/mapper_params_lifelong.yaml
@@ -0,0 +1,87 @@
+
+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
+    use_map_saver: true
+    mode: mapping
+
+    # lifelong params
+    lifelong_search_use_tree: false
+    lifelong_minimum_score: 0.1
+    lifelong_iou_match: 0.85
+    lifelong_node_removal_score: 0.04
+    lifelong_overlap_score_scale: 0.06
+    lifelong_constraint_multiplier: 0.08
+    lifelong_nearby_penalty: 0.001
+    lifelong_candidates_scale: 0.03
+
+    # 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: test_steve
+    #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
+    map_update_interval: 5.0
+    resolution: 0.05
+    min_laser_range: 0.0 #for rastering images
+    max_laser_range: 20.0 #for rastering images
+    minimum_time_interval: 0.5
+    transform_timeout: 0.2
+    tf_buffer_duration: 10.
+    stack_size_to_use: 40000000 #// program needs a larger stack size to serialize large maps
+
+    # 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
+    min_pass_through: 2
+    occupancy_threshold: 0.1
--- a/src/cyy_slamtoolbox/config/mapper_params_localization.yaml
+++ b/src/cyy_slamtoolbox/config/mapper_params_localization.yaml
@@ -0,0 +1,70 @@
+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_link
+    scan_topic: /scan
+    mode: localization #localization
+
+    # 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
+    resolution: 0.05
+    min_laser_range: 0.0 #for rastering images
+    max_laser_range: 20.0 #for rastering images
+    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
+
+    # 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
+    min_pass_through: 2
+    occupancy_threshold: 0.1
--- a/src/cyy_slamtoolbox/config/mapper_params_offline.yaml
+++ b/src/cyy_slamtoolbox/config/mapper_params_offline.yaml
@@ -0,0 +1,69 @@
+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
+    use_map_saver: true
+    mode: mapping #localization
+    debug_logging: false
+    throttle_scans: 1
+    transform_publish_period: 0.02 #if 0 never publishes odometry
+    map_update_interval: 10.0
+    resolution: 0.05
+    min_laser_range: 0.0 #for rastering images
+    max_laser_range: 20.0 #for rastering images
+    minimum_time_interval: 0.5
+    transform_timeout: 0.2
+    tf_buffer_duration: 14400.
+    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
+    min_pass_through: 2
+    occupancy_threshold: 0.1
--- a/src/cyy_slamtoolbox/config/mapper_params_online_async.yaml
+++ b/src/cyy_slamtoolbox/config/mapper_params_online_async.yaml
@@ -0,0 +1,78 @@
+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_link
+    scan_topic: /scan
+    use_map_saver: true
+    mode: mapping #localization
+    samples: 440
+    # 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: test_steve
+    # map_start_pose: [0.0, 0.0, 0.0]
+    #map_start_at_dock: true
+
+    debug_logging: false
+    throttle_scans: 5
+    transform_publish_period: 0.02 #if 0 never publishes odometry
+    map_update_interval: 0.01
+    resolution: 0.01
+    min_laser_range: 0.21 #for rastering images
+    max_laser_range: 15.0 #for rastering images
+    minimum_time_interval: 0.1
+    transform_timeout: 2.0
+    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: 0.2
+    minimum_travel_heading: 0.2
+    scan_buffer_size: 10
+    samples: 440
+    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: 0.05
+    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
+    min_pass_through: 2
+    occupancy_threshold: 0.1
--- a/src/cyy_slamtoolbox/config/mapper_params_online_sync.yaml
+++ b/src/cyy_slamtoolbox/config/mapper_params_online_sync.yaml
@@ -0,0 +1,77 @@
+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
+    use_map_saver: true
+    mode: mapping #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
+    # will use pose
+    #map_file_name: test_steve
+    #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
+    map_update_interval: 5.0
+    resolution: 0.05
+    min_laser_range: 0.0 #for rastering images
+    max_laser_range: 20.0 #for rastering images
+    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
+    min_pass_through: 2
+    occupancy_threshold: 0.1
--- a/src/cyy_slamtoolbox/config/mask_filter_example.yaml
+++ b/src/cyy_slamtoolbox/config/mask_filter_example.yaml
@@ -0,0 +1,16 @@
+scan_to_scan_filter_chain:
+  ros__parameters:
+    filter1:
+      name: mask
+      type: laser_filters/LaserScanMaskFilter
+      params:
+        masks:
+          laser:
+          - 100.
+          - 101.
+          - 102.
+          - 103.
+          - 104.
+          - 1000.
+          - 1001.
+          - 1002.
--- a/src/cyy_slamtoolbox/config/median_filter_example.yaml
+++ b/src/cyy_slamtoolbox/config/median_filter_example.yaml
@@ -0,0 +1,20 @@
+scan_to_scan_filter_chain:
+  ros__parameters:
+    filter1:
+      type: laser_filters/LaserArrayFilter
+      name: median
+      params: 
+        range_filter_chain:
+          filter1: 
+            name: median
+            type: filters/MultiChannelMedianFilterFloat 
+            params:
+              number_of_observations: 5
+              unused: 10
+        intensity_filter_chain:
+          filter1:
+            name: median
+            type: filters/MultiChannelMedianFilterFloat 
+            params:
+              number_of_observations: 5
+              unused: 10
--- a/src/cyy_slamtoolbox/config/median_spatial_filter_example.yaml
+++ b/src/cyy_slamtoolbox/config/median_spatial_filter_example.yaml
@@ -0,0 +1,17 @@
+scan_to_scan_filter_chain:
+  ros__parameters:
+    filter1:
+      name: median_spatial
+      type: laser_filters/LaserScanMedianSpatialFilter
+      params:
+        window_size: 31
+    filter2:
+      name: median_filter
+      type: laser_filters/LaserArrayFilter
+      params:
+        range_filter_chain:
+          filter1:
+            name: median
+            type: filters/MultiChannelMedianFilterFloat
+            params:
+              number_of_observations: 3
--- a/src/cyy_slamtoolbox/config/multiple_filters_example.yaml
+++ b/src/cyy_slamtoolbox/config/multiple_filters_example.yaml
@@ -0,0 +1,42 @@
+scan_to_scan_filter_chain:
+  ros__parameters:
+    filter1:
+      type: laser_filters/LaserArrayFilter
+      name: laser_median_5
+      params: 
+        range_filter_chain:
+          filter1:
+            name: median_5
+            type: filters/MultiChannelMedianFilterFloat 
+            params:
+              number_of_observations: 5
+              unused: 10
+        intensity_filter_chain:
+          filter2:
+            name: median_5
+            type: filters/MultiChannelMedianFilterFloat 
+            params:
+              number_of_observations: 5
+              unused: 10
+    filter2: 
+      name: intensity
+      type: laser_filters/LaserScanIntensityFilter
+      params:
+        lower_threshold: 8000.
+        upper_threshold: 100000.
+        disp_histogram: 0
+    filter3:
+      name: shadows
+      type: laser_filters/ScanShadowsFilter
+      params:
+        min_angle: 10.
+        max_angle: 170.
+        neighbors: 20
+        window: 0
+    filter4:
+      name: dark_shadows
+      type: laser_filters/LaserScanIntensityFilter
+      params: 
+        lower_threshold: 100.
+        upper_threshold: 10000.
+        disp_histogram: 0
--- a/src/cyy_slamtoolbox/config/pass_through_example.yaml
+++ b/src/cyy_slamtoolbox/config/pass_through_example.yaml
--- a/src/cyy_slamtoolbox/config/polygon_filter_example.yaml
+++ b/src/cyy_slamtoolbox/config/polygon_filter_example.yaml
@@ -0,0 +1,10 @@
+scan_to_scan_filter_chain:
+  ros__parameters:
+    filter1:
+      name: polygon_filter
+      type: laser_filters/LaserScanPolygonFilter
+      params:
+        polygon_frame: base_link
+        polygon: '[[0.0, 0.0], [0.1, 0.1], [0.1, 0.0], [0.0, -0.1]]'
+        invert: false
+        footprint_topic: base_footprint_exclude
--- a/src/cyy_slamtoolbox/config/range_filter_example.yaml
+++ b/src/cyy_slamtoolbox/config/range_filter_example.yaml
@@ -0,0 +1,11 @@
+scan_to_scan_filter_chain:
+  ros__parameters:
+    filter1:
+      name: box_filter
+      type: laser_filters/LaserScanRangeFilter
+      params:
+        use_message_range_limits: false   # if not specified defaults to false
+        lower_threshold: 0.5              # if not specified defaults to 0.0
+        upper_threshold: 1.0              # if not specified defaults to 100000.0
+        lower_replacement_value: -.inf    # if not specified defaults to NaN
+        upper_replacement_value: .inf     # if not specified defaults to NaN
--- a/src/cyy_slamtoolbox/config/scan_blob_filter_example.yaml
+++ b/src/cyy_slamtoolbox/config/scan_blob_filter_example.yaml
@@ -0,0 +1,8 @@
+scan_to_scan_filter_chain:
+  ros__parameters:
+    filter1:
+      name: scan_blob_filter
+      type: laser_filters/ScanBlobFilter
+      params:
+        max_radius: 0.25 # maximum radius to be considered as blob object
+        min_points: 6 # min scan points to be considered as blob object
--- a/src/cyy_slamtoolbox/config/sector_filter_example.yaml
+++ b/src/cyy_slamtoolbox/config/sector_filter_example.yaml
@@ -0,0 +1,12 @@
+scan_to_scan_filter_chain:
+  ros__parameters:
+    filter1:
+      name: scan_filter
+      type: laser_filters/LaserScanSectorFilter
+      params:
+        angle_min: 2.54 # if not specified defaults to 0.0
+        angle_max: -2.54 # if not specified defaults to 0.0
+        range_min: 0.2 # if not specified defaults to 0.0
+        range_max: 2.0 # if not specified defaults to 100000.0
+        clear_inside: true # if not specified defaults to true
+        invert: false # (!clear_inside) if not specified defaults to false
--- a/src/cyy_slamtoolbox/config/shadow_filter_example.yaml
+++ b/src/cyy_slamtoolbox/config/shadow_filter_example.yaml
@@ -0,0 +1,18 @@
+scan_to_scan_filter_chain:
+  ros__parameters:
+    filter1:
+      name: shadows
+      type: laser_filters/ScanShadowsFilter
+      params:
+        min_angle: 10.
+        max_angle: 170.
+        neighbors: 20
+        window: 1
+    filter2:
+      name: dark_shadows
+      type: laser_filters/LaserScanIntensityFilter
+      params: 
+        lower_threshold: 100.
+        upper_threshold: 10000.
+        disp_histogram: 0
+
--- a/src/cyy_slamtoolbox/config/slam_toolbox_default.rviz
+++ b/src/cyy_slamtoolbox/config/slam_toolbox_default.rviz
@@ -0,0 +1,137 @@
+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+      Splitter Ratio: 0.5
+    Tree Height: 154
+  - Class: rviz_common/Selection
+    Name: Selection
+  - Class: rviz_common/Tool Properties
+    Expanded:
+      - /2D Goal Pose1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz_common/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+  - Class: slam_toolbox::SlamToolboxPlugin
+    Name: SlamToolboxPlugin
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz_default_plugins/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: map
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/Interact
+      Hide Inactive Objects: true
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+      Line color: 128; 128; 0
+    - Class: rviz_default_plugins/SetInitialPose
+      Covariance x: 0.25
+      Covariance y: 0.25
+      Covariance yaw: 0.06853891909122467
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /initialpose
+    - Class: rviz_default_plugins/SetGoal
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /goal_pose
+    - Class: rviz_default_plugins/PublishPoint
+      Single click: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /clicked_point
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Class: rviz_default_plugins/Orbit
+      Distance: 10
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.785398006439209
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 0.785398006439209
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 846
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd000000040000000000000217000002b0fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000125000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000220053006c0061006d0054006f006f006c0062006f00780050006c007500670069006e0100000168000001850000018500ffffff000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b0000002eb00fffffffb0000000800540069006d006501000000000000045000000000000000000000017e000002b000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  SlamToolboxPlugin:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1200
+  X: 72
+  Y: 60
--- a/src/cyy_slamtoolbox/config/speckle_filter_example.yaml
+++ b/src/cyy_slamtoolbox/config/speckle_filter_example.yaml
@@ -0,0 +1,19 @@
+scan_filter_chain:
+- name: speckle_filter
+  type: laser_filters/LaserScanSpeckleFilter
+  params:
+    # Select which filter type to use.
+    # 0: Range based filtering (distance between consecutive points)
+    # 1: Euclidean filtering based on radius outlier search
+    filter_type: 0
+
+    # Only ranges smaller than this range are taken into account
+    max_range: 2.0
+
+    # filter_type[0] (Distance): max distance between consecutive points
+    # filter_type[1] (RadiusOutlier): max distance between points
+    max_range_difference: 0.1
+
+    # filter_type[0] (Distance): Number of consecutive ranges that will be tested for max_distance
+    # filter_type[1] (RadiusOutlier): Minimum number of neighbors
+    filter_window: 2
--- a/src/cyy_slamtoolbox/launch/cyy_slam_toolbox_launch.launch.py
+++ b/src/cyy_slamtoolbox/launch/cyy_slam_toolbox_launch.launch.py
@@ -0,0 +1,24 @@
+#!/usr/bin/env python3
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from ament_index_python.packages import get_package_share_directory
+import os
+
+def generate_launch_description():
+    # 获取参数文件路径
+    pkg_share = get_package_share_directory('cyy_slamtoolbox')
+    params_file = os.path.join(pkg_share, 'config', 'mapper_params_online_async.yaml')
+    
+    # 创建SLAM Toolbox节点
+    slam_toolbox_node = Node(
+        package='slam_toolbox',
+        executable='async_slam_toolbox_node',  # 或 sync_slam_toolbox_node
+        name='slam_toolbox',
+        output='screen',
+        parameters=[params_file]
+    )
+    
+    
+    return LaunchDescription([
+        slam_toolbox_node
+    ])
--- a/src/cyy_slamtoolbox/launch/cyy_slam_toolbox_location.launch.py
+++ b/src/cyy_slamtoolbox/launch/cyy_slam_toolbox_location.launch.py
@@ -0,0 +1,24 @@
+#!/usr/bin/env python3
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from ament_index_python.packages import get_package_share_directory
+import os
+
+def generate_launch_description():
+    # 获取参数文件路径
+    pkg_share = get_package_share_directory('cyy_slamtoolbox')
+    params_file = os.path.join(pkg_share, 'config', 'mapper_params_localization.yaml')
+    
+    # 创建SLAM Toolbox节点
+    slam_toolbox_node = Node(
+        package='slam_toolbox',
+        executable='localization_slam_toolbox_node',  # 或 sync_slam_toolbox_node
+        name='slam_toolbox',
+        output='screen',
+        parameters=[params_file]
+    )
+    
+    
+    return LaunchDescription([
+        slam_toolbox_node
+    ])
--- a/src/cyy_slamtoolbox/launch/filter.launch.py
+++ b/src/cyy_slamtoolbox/launch/filter.launch.py
@@ -0,0 +1,24 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from ament_index_python.packages import get_package_share_directory
+import os
+
+def generate_launch_description():
+    # 假设配置文件路径，你需要根据实际情况修改
+    config_path = os.path.join(
+        get_package_share_directory('cyy_slamtoolbox'),
+        'config',
+        'angular_filter_example.yaml'
+    )
+
+    laser_filter_node = Node(
+        package='laser_filters',
+        executable='scan_to_scan_filter_chain',
+        name='laser_filter',
+        output='screen',
+        parameters=[config_path],
+        # 重新映射话题：从/base_scan原始数据过滤后发布到/scan
+        remappings=[('scan', '/base_scan'), ('scan_filtered', '/scan')]
+    )
+
+    return LaunchDescription([laser_filter_node])
--- a/src/cyy_slamtoolbox/package.xml
+++ b/src/cyy_slamtoolbox/package.xml
@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>cyy_slamtoolbox</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="root@todo.todo">root</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>