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