add：添加了实车模式，未验证

2026-06-06 20:32:07 +08:00
parent 30a9b2bd2d
commit b44f0c1909
71 changed files with 6113 additions and 5 deletions
--- a/src/gc_navigation2_real/config/slam_toolbox_localization_real.yaml
+++ b/src/gc_navigation2_real/config/slam_toolbox_localization_real.yaml
@@ -0,0 +1,77 @@
+slam_toolbox:
+  ros__parameters:
+
+    # ============================ Solver 插件参数 ======================================
+    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 基础参数（实车定位模式）============================
+    odom_frame: odom_combined                   # 实车：EKF 融合后的里程计坐标系
+    map_frame: map
+    base_frame: base_footprint
+    scan_topic: /scan
+    mode: localization                         # 纯定位模式，不更新地图
+
+    # ============================ 已有地图加载 ==========================================
+    # 由 launch 文件通过 map_file_name 参数传入 .posegraph 路径
+    # map_file_name: ""
+    map_start_pose: [0.0, 0.0, 0.0]
+
+    # ============================ 调试与性能 ===========================================
+    debug_logging: false
+    throttle_scans: 2                          # 每2帧处理一次（实车激光较慢时使用）
+    transform_publish_period: 0.02
+    map_update_interval: 5.0
+    resolution: 0.05
+    restamp_tf: false
+    min_laser_range: 0.15                      # 过滤雷达盲区噪点
+    max_laser_range: 12.0                      # 实车雷达最大有效距离
+    minimum_time_interval: 0.3
+    transform_timeout: 0.2
+    tf_buffer_duration: 30.0
+    stack_size_to_use: 40000000
+
+    # ============================ 通用参数 =============================================
+    use_scan_matching: true
+    use_scan_barycenter: true
+    minimum_travel_distance: 0.3
+    minimum_travel_heading: 0.3
+    check_min_dist_and_heading_precisely: false
+    scan_buffer_size: 10
+    scan_buffer_maximum_scan_distance: 10.0
+    link_match_minimum_response_fine: 0.1
+    link_scan_maximum_distance: 1.5
+
+    # 定位模式关闭回环检测
+    do_loop_closing: false
+    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
+    loop_search_maximum_distance: 3.0
+
+    # ============================ 相关性匹配参数 =======================================
+    correlation_search_space_dimension: 0.5
+    correlation_search_space_resolution: 0.01
+    correlation_search_space_smear_deviation: 0.1
+
+    loop_search_space_dimension: 8.0
+    loop_search_space_resolution: 0.05
+    loop_search_space_smear_deviation: 0.03
+
+    # ============================ 扫描匹配器参数 ========================================
+    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