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: 2.0

    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: "false"
    Grid/MaxGroundHeight: "0.1"
    Grid/MinGroundHeight: "-0.2"
    Grid/MaxObstacleHeight: "1.0"
    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: "30.0"
    Mem/LaserScanVoxelSize: "0.01"
    Odom/FilteringStrategy: "1"
    Odom/ScanKeyFrameThr: "0.9"
    Odom/GuessMotion: "false"

    Grid/CellSize: "0.2"
    Grid/MinClusterSize: "10"
    Grid/FlatObstacleDetected: "true"

    RGBD/StartAtOrigin: "true"
    RGBD/LocalizationPriorError: "5.0"
    RGBD/LocalizationSmoothing: "false"
    Icp/GuessFromTf: "true"


    frame_id: base_link
    wait_for_transform: 2.0

    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: "0.02"

    Odom/GuessMotion: "false"