26 lines
872 B
YAML
26 lines
872 B
YAML
# Yahboom Pi5 differential-drive profile. Vehicle owns /scan, /odom and TF.
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slam_toolbox:
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ros__parameters:
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use_sim_time: true
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do_loop_closing: true
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publish_map_to_odom_transform: true
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map_frame: map
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odom_frame: odom
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base_frame: base_footprint
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scan_topic: /scan
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qos_overrides./scan.subscriber.reliability: best_effort
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transform_timeout: 0.2
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tf_buffer_duration: 60.0
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min_laser_range: 0.12
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max_laser_range: 12.0
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minimum_travel_distance: 0.12
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minimum_travel_heading: 0.18
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loop_search_maximum_distance: 8.0
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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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correlation_search_space_resolution: 0.005
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correlation_search_space_dimension: 0.5
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correlation_search_space_smear_deviation: 0.05
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link_match_minimum_response_fine: 0.2
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link_scan_maximum_distance: 1.5
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