From 4ab9235359be7c149e2f0ba162dcfb95823e7547 Mon Sep 17 00:00:00 2001 From: chyoo Date: Tue, 22 Sep 2026 11:12:05 +0900 Subject: [PATCH] feat: support Yahboom in shared Nav2 slam --- src/slam2d_pkg/config/slam_yahboom.yaml | 25 +++++++++++++++++++++++++ src/slam2d_pkg/launch/slam.launch.py | 2 +- 2 files changed, 26 insertions(+), 1 deletion(-) create mode 100644 src/slam2d_pkg/config/slam_yahboom.yaml diff --git a/src/slam2d_pkg/config/slam_yahboom.yaml b/src/slam2d_pkg/config/slam_yahboom.yaml new file mode 100644 index 0000000..77e56cb --- /dev/null +++ b/src/slam2d_pkg/config/slam_yahboom.yaml @@ -0,0 +1,25 @@ +# Yahboom Pi5 differential-drive profile. Vehicle owns /scan, /odom and TF. +slam_toolbox: + ros__parameters: + use_sim_time: true + do_loop_closing: true + publish_map_to_odom_transform: true + map_frame: map + odom_frame: odom + base_frame: base_footprint + scan_topic: /scan + qos_overrides./scan.subscriber.reliability: best_effort + transform_timeout: 0.2 + tf_buffer_duration: 60.0 + min_laser_range: 0.12 + max_laser_range: 12.0 + minimum_travel_distance: 0.12 + minimum_travel_heading: 0.18 + loop_search_maximum_distance: 8.0 + loop_match_minimum_response_coarse: 0.35 + loop_match_minimum_response_fine: 0.45 + correlation_search_space_resolution: 0.005 + correlation_search_space_dimension: 0.5 + correlation_search_space_smear_deviation: 0.05 + link_match_minimum_response_fine: 0.2 + link_scan_maximum_distance: 1.5 diff --git a/src/slam2d_pkg/launch/slam.launch.py b/src/slam2d_pkg/launch/slam.launch.py index 5e067e8..a6f9cab 100755 --- a/src/slam2d_pkg/launch/slam.launch.py +++ b/src/slam2d_pkg/launch/slam.launch.py @@ -21,7 +21,7 @@ from nav2_common.launch import RewrittenYaml ARGUMENTS = [ DeclareLaunchArgument('sim_mode', default_value='true'), - DeclareLaunchArgument('robot', default_value='turtlebot3', choices=['turtlebot3', 'fr09', 'mkmini', 'f1tenth']), + DeclareLaunchArgument('robot', default_value='turtlebot3', choices=['turtlebot3', 'fr09', 'mkmini', 'f1tenth', 'yahboom']), ]