# 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