74 lines
2.1 KiB
YAML
74 lines
2.1 KiB
YAML
slam_toolbox:
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ros__parameters:
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# === Solver ===
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solver_plugin: solver_plugins::CeresSolver
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ceres_linear_solver: SPARSE_NORMAL_CHOLESKY
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ceres_preconditioner: SCHUR_JACOBI
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ceres_trust_strategy: LEVENBERG_MARQUARDT
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ceres_dogleg_type: TRADITIONAL_DOGLEG
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ceres_loss_function: None
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# === ROS 基础 ===
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odom_frame: odom
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map_frame: map
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base_frame: base_link
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scan_topic: /scan
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mode: mapping
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use_map_saver: true
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# === 调试与性能 ===
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debug_logging: false
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throttle_scans: 1
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transform_publish_period: 0.02
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map_update_interval: 3.0
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resolution: 0.05
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min_laser_range: 0.15
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max_laser_range: 20.0
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minimum_time_interval: 0.5
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transform_timeout: 0.2
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tf_buffer_duration: 30.0
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stack_size_to_use: 40000000
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enable_interactive_mode: true
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# === 建图参数 ===
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use_scan_matching: true
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use_scan_barycenter: true
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minimum_travel_distance: 0.5
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minimum_travel_heading: 0.1
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scan_buffer_size: 10
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scan_buffer_maximum_scan_distance: 10.0
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link_match_minimum_response_fine: 0.1
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link_scan_maximum_distance: 1.5
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# === 回环检测 ===
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do_loop_closing: true
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loop_match_minimum_chain_size: 10
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loop_match_maximum_variance_coarse: 3.0
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loop_match_minimum_response_coarse: 0.35
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loop_match_minimum_response_fine: 0.45
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loop_search_maximum_distance: 3.0
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# === 扫描匹配 ===
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correlation_search_space_dimension: 0.5
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correlation_search_space_resolution: 0.01
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correlation_search_space_smear_deviation: 0.1
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loop_search_space_dimension: 8.0
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loop_search_space_resolution: 0.05
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loop_search_space_smear_deviation: 0.03
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# === 匹配器参数 ===
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distance_variance_penalty: 0.5
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angle_variance_penalty: 1.0
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fine_search_angle_offset: 0.00349
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coarse_search_angle_offset: 0.349
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coarse_angle_resolution: 0.0349
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minimum_angle_penalty: 0.9
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minimum_distance_penalty: 0.5
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use_response_expansion: true
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min_pass_through: 2
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occupancy_threshold: 0.1
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# MessageFilter queue size (default 1, too small for high-rate lidar)
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scan_queue_size: 20
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