forked from zbw/yiliao2026
78 lines
3.0 KiB
YAML
78 lines
3.0 KiB
YAML
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
|