slam_toolbox:
  ros__parameters:

    # === Solver ===
    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 ===
    odom_frame: odom
    map_frame: map
    base_frame: base_link
    scan_topic: /scan
    mode: mapping
    use_map_saver: true

    # === 调试与性能 ===
    debug_logging: false
    throttle_scans: 2
    transform_publish_period: 0.02
    map_update_interval: 3.0
    resolution: 0.05
    min_laser_range: 0.15
    max_laser_range: 10.0
    minimum_time_interval: 0.5
    transform_timeout: 0.2
    tf_buffer_duration: 30.0
    stack_size_to_use: 40000000
    enable_interactive_mode: true

    # === 建图参数 ===
    use_scan_matching: true
    use_scan_barycenter: true
    minimum_travel_distance: 0.5
    minimum_travel_heading: 0.1
    scan_buffer_size: 10
    scan_buffer_maximum_scan_distance: 10.0
    link_match_minimum_response_fine: 0.1
    link_scan_maximum_distance: 1.5

    # === 回环检测 ===
    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
    loop_search_maximum_distance: 3.0

    # === 扫描匹配 ===
    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

    # === 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

    # MessageFilter queue size (default 1, too small for high-rate lidar)
    scan_queue_size: 20