feat: add lms-nav2-gazebo-slam module

2026-07-28 10:35:38 +09:00
commit 0040af6283
47 changed files with 1892 additions and 0 deletions
@@ -0,0 +1,96 @@
+icp_odometry:
+  ros__parameters:
+    odom_frame_id: icp_odom
+    guess_frame_id: odom
+    OdomF2M/ScanSubtractRadius: '0.0'
+    OdomF2M/ScanMaxSize: '10000'
+
+
+    frame_id: base_link
+    wait_for_transform: 2.0
+
+    approx_sync: true
+    topic_queue_size: 30
+    sync_queue_size: 30
+
+    Reg/Strategy: "1"
+    Reg/Force3DoF: "true"
+    Mem/NotLinkedNodesKept: "false"
+
+    Icp/VoxelSize: "0.03"
+    Icp/MaxCorrespondenceDistance: "0.2"
+    Icp/PointToPlaneGroundNormalsUp: "0.9"
+    Icp/RangeMin: "0.0"
+    Icp/MaxTranslation: "1.0"
+    Icp/MaxRotation: "0.78"
+
+    Icp/PointToPlaneMinComplexity: "0.03"
+    Icp/PointToPlaneLowComplexityStrategy: "1"
+    Icp/OutlierRatio: "0.6"
+    Icp/Force4DoF: "true"
+    Icp/CorrespondenceRatio: "0.02"
+    Icp/GuessFromTf: "false"
+
+    Odom/GuessMotion: "false"
+
+rtabmap:
+  ros__parameters:
+    subscribe_rgb: false
+    subscribe_depth: false
+    subscribe_scan_cloud: true
+    use_action_for_goal: true
+    odom_sensor_sync: true
+
+    approx_sync: true
+    topic_queue_size: 30
+    sync_queue_size: 30
+
+    Mem/NotLinkedNodesKept: "false"
+    Grid/RangeMin: "0.0"
+    Grid/NormalsSegmentation: "false"
+    Grid/MaxGroundHeight: "0.1"
+    Grid/MinGroundHeight: "-0.2"
+    Grid/MaxObstacleHeight: "1.0"
+    Grid/RayTracing: "false"
+    Grid/3D: "false"
+    RGBD/OptimizeMaxError: "0.5"
+
+    RGBD/LinearUpdate: "0.05"
+    RGBD/AngularUpdate: "0.05"
+    RGBD/ProximityPathMaxNeighbors: "1"
+    Grid/RangeMax: "10.0"
+    Mem/LaserScanVoxelSize: "0.01"
+    Odom/FilteringStrategy: "1"
+    Odom/ScanKeyFrameThr: "0.9"
+    Odom/GuessMotion: "false"
+
+    Grid/CellSize: "0.2"
+    Grid/MinClusterSize: "10"
+    Grid/FlatObstacleDetected: "true"
+
+    RGBD/StartAtOrigin: "true"
+    RGBD/LocalizationPriorError: "5.0"
+    RGBD/LocalizationSmoothing: "false"
+    Icp/GuessFromTf: "false"
+
+
+    frame_id: base_link
+    wait_for_transform: 2.0
+
+    Reg/Strategy: "1"
+    Reg/Force3DoF: "true"
+
+    Icp/VoxelSize: "0.03"
+    Icp/MaxCorrespondenceDistance: "0.2"
+    Icp/PointToPlaneGroundNormalsUp: "0.9"
+    Icp/RangeMin: "0.0"
+    Icp/MaxTranslation: "1.0"
+    Icp/MaxRotation: "0.78"
+
+    Icp/PointToPlaneMinComplexity: "0.03"
+    Icp/PointToPlaneLowComplexityStrategy: "1"
+    Icp/OutlierRatio: "0.6"
+    Icp/Force4DoF: "true"
+    Icp/CorrespondenceRatio: "0.02"
+
+    Odom/GuessMotion: "false"