102 lines
2.5 KiB
YAML
Executable File
102 lines
2.5 KiB
YAML
Executable File
icp_odometry:
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ros__parameters:
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use_sim_time: true
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odom_frame_id: icp_odom
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guess_frame_id: odom
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OdomF2M/ScanSubtractRadius: '0.0'
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OdomF2M/ScanMaxSize: '10000'
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frame_id: base_link
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wait_for_transform: 2.0
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approx_sync: true
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topic_queue_size: 30
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sync_queue_size: 30
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Reg/Strategy: "1"
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Reg/Force3DoF: "true"
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Mem/NotLinkedNodesKept: "false"
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Icp/VoxelSize: "0.03"
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Icp/MaxCorrespondenceDistance: "0.2"
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Icp/PointToPlaneGroundNormalsUp: "0.9"
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Icp/RangeMin: "0.0"
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Icp/MaxTranslation: "1.0"
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Icp/MaxRotation: "0.5" # 한 번의 odometry 업데이트 최대 회전 제한. 크면 오정합 발생. 작으면 계산량 증가. default: 0.78rad
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Icp/PointToPlaneMinComplexity: "0.03"
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Icp/PointToPlaneLowComplexityStrategy: "1"
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Icp/OutlierRatio: "0.6"
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Icp/Force4DoF: "true"
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Icp/CorrespondenceRatio: "0.02"
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Icp/GuessFromTf: "true"
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Odom/GuessMotion: "false"
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rtabmap:
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ros__parameters:
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use_sim_time: true
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subscribe_rgbd: false
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subscribe_rgb: false
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subscribe_depth: false
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subscribe_scan_cloud: true
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use_action_for_goal: true
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odom_sensor_sync: true
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approx_sync: true
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topic_queue_size: 30
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sync_queue_size: 30
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Mem/NotLinkedNodesKept: "false"
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Grid/RangeMin: "0.0"
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Grid/NormalsSegmentation: "false"
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Grid/MaxGroundHeight: "0.1"
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Grid/MinGroundHeight: "-0.2"
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Grid/MaxObstacleHeight: "1.0"
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Grid/RayTracing: "false"
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Grid/3D: "false"
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Grid/Sensor: "0"
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RGBD/OptimizeMaxError: "0.5"
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RGBD/LinearUpdate: "0.05"
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RGBD/AngularUpdate: "0.05"
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RGBD/ProximityPathMaxNeighbors: "1"
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Grid/RangeMax: "30.0"
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Mem/LaserScanVoxelSize: "0.01"
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Odom/FilteringStrategy: "1"
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Odom/ScanKeyFrameThr: "0.9"
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Odom/GuessMotion: "false"
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Grid/CellSize: "0.2"
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Grid/MinClusterSize: "10"
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Grid/FlatObstacleDetected: "true"
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RGBD/StartAtOrigin: "true"
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RGBD/LocalizationPriorError: "5.0"
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RGBD/LocalizationSmoothing: "false"
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Icp/GuessFromTf: "true"
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frame_id: base_link
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wait_for_transform: 2.0
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Reg/Strategy: "1"
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Reg/Force3DoF: "true"
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Icp/VoxelSize: "0.03"
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Icp/MaxCorrespondenceDistance: "0.2"
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Icp/PointToPlaneGroundNormalsUp: "0.9"
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Icp/RangeMin: "0.0"
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Icp/MaxTranslation: "1.0"
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Icp/MaxRotation: "0.78"
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Icp/PointToPlaneMinComplexity: "0.03"
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Icp/PointToPlaneLowComplexityStrategy: "1"
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Icp/OutlierRatio: "0.6"
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Icp/Force4DoF: "true"
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Icp/CorrespondenceRatio: "0.02"
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Odom/GuessMotion: "false" |