feat: support Yahboom in shared Nav2 slam

2026-09-22 11:12:05 +09:00
parent 7d854ecfd7
commit 4ab9235359
2 changed files with 26 additions and 1 deletions
@@ -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