feat: add NAV2 slam3D module

2026-07-29 15:10:29 +09:00
commit 0e831766e1
20 changed files with 1008 additions and 0 deletions
@@ -0,0 +1,107 @@
+icp_odometry:
+  ros__parameters:
+    use_sim_time: true
+
+    odom_frame_id: icp_odom
+    guess_frame_id: odom
+    OdomF2M/ScanSubtractRadius: '0.0'
+    OdomF2M/ScanMaxSize: '10000'
+
+
+    frame_id: base_link
+    wait_for_transform: 5.0
+
+    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: "0.5"                    # 한 번의 odometry 업데이트 최대 회전 제한. 크면 오정합 발생. 작으면 계산량 증가. default: 0.78rad
+
+    Icp/PointToPlaneMinComplexity: "0.03"
+    Icp/PointToPlaneLowComplexityStrategy: "1"
+    Icp/OutlierRatio: "0.6"
+    Icp/Force4DoF: "true"
+    Icp/CorrespondenceRatio: "0.02"
+    Icp/GuessFromTf: "true"
+
+    Odom/GuessMotion: "false"
+
+rtabmap:
+  ros__parameters:
+    use_sim_time: true
+
+    subscribe_rgbd: false
+    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: "true"
+    Grid/MaxGroundAngle: "8"
+    Grid/NormalK: "10"
+
+    Grid/MaxGroundHeight: "-0.8"
+    Grid/MinGroundHeight: "-1.3"
+    Grid/MaxObstacleHeight: "0.1"
+
+    Grid/RayTracing: "false"
+    Grid/3D: "false"
+    Grid/Sensor: "0"
+    RGBD/OptimizeMaxError: "0.5"
+
+    RGBD/LinearUpdate: "0.05"
+    RGBD/AngularUpdate: "0.05"
+    RGBD/ProximityPathMaxNeighbors: "1"
+    Grid/RangeMax: "25.0"
+    Mem/LaserScanVoxelSize: "0.01"
+    Odom/FilteringStrategy: "1"
+    Odom/ScanKeyFrameThr: "0.9"
+    Odom/GuessMotion: "false"
+
+    Grid/CellSize: "0.2"
+    Grid/ClusterRadius: "0.2"
+    Grid/MinClusterSize: "2"
+    Grid/FlatObstacleDetected: "false"
+
+    RGBD/StartAtOrigin: "true"
+    RGBD/LocalizationPriorError: "2.0"
+    RGBD/LocalizationSmoothing: "false"
+    Icp/GuessFromTf: "true"
+
+
+    frame_id: base_link
+    wait_for_transform: 5.0
+
+    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: "0.2"
+
+    Odom/GuessMotion: "false"