62 lines
1.8 KiB
YAML
62 lines
1.8 KiB
YAML
# =============================================================================
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# slam_toolbox 在线异步建图参数
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# 用于实时 SLAM 建图
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# =============================================================================
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slam_toolbox:
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ros__parameters:
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# 基本设置
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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 参数
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odom_frame: odom
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map_frame: map
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base_frame: base_footprint
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scan_topic: /scan
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use_sim_time: True
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mode: mapping
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# 调试
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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: 5.0
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resolution: 0.05
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max_laser_range: 3.5
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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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# 回环检测
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loop_search_maximum_distance: 3.0
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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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# 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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# 回环闭合
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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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# 扫描匹配器
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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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