Warehouse sim running - but not yet working.

2026-05-07 22:07:02 +00:00
parent d3c3d03ae7
commit c1319a6357
12 changed files with 1161 additions and 10 deletions
@@ -0,0 +1,64 @@
+slam_toolbox:
+  ros__parameters:
+
+    use_sim_time: true
+
+    # ── Solver ──────────────────────────────────────────────────────────────
+    solver_plugin: solver_plugins::CeresSolver
+    ceres_linear_solver: SPARSE_NORMAL_CHOLESKY
+    ceres_preconditioner: SCHUR_JACOBI
+    ceres_trust_strategy: LEVENBERG_MARQUARDT
+    ceres_dogleg_type: TRADITIONAL_DOGLEG
+    ceres_loss_function: None
+
+    # ── Frames ──────────────────────────────────────────────────────────────
+    odom_frame: odom
+    map_frame: map
+    base_frame: base_footprint
+    scan_topic: /scan
+
+    # ── Mode ────────────────────────────────────────────────────────────────
+    # mapping      — build a new map; publishes /map and /map_metadata
+    # localization — localise in a previously-saved map (load with map_server)
+    # lifelong     — continuous mapping with loop closure; memory-intensive
+    mode: mapping
+
+    # ── Map parameters ──────────────────────────────────────────────────────
+    resolution: 0.05          # metres per pixel — 5 cm is good for indoor navigation
+    max_laser_range: 12.0     # m — matches RPLIDAR A1 spec; trim to actual room size
+    map_update_interval: 5.0  # seconds between map publishes
+
+    # ── Timing / TF ─────────────────────────────────────────────────────────
+    transform_publish_period: 0.02   # seconds (50 Hz) — map → odom TF publish rate
+    transform_timeout: 0.2           # seconds — how long to wait for a TF lookup
+    tf_buffer_duration: 30.0         # seconds — TF history kept in memory
+    throttle_scans: 1                # process every Nth scan (1 = all)
+    minimum_time_interval: 0.5       # seconds — minimum gap between processed scans
+
+    # ── Scan matching ────────────────────────────────────────────────────────
+    use_scan_matching: true
+    use_scan_barycenter: true
+
+    # How far the robot must move/turn before adding a new node to the graph
+    minimum_travel_distance: 0.5    # m
+    minimum_travel_heading: 0.5     # rad (~29°)
+
+    # Scan buffer — larger = more context for loop closure but more memory
+    scan_buffer_size: 10
+    scan_buffer_maximum_scan_distance: 10.0   # m
+
+    # Matching quality thresholds
+    link_match_minimum_response_fine: 0.1
+    distance_variance_penalty: 0.5
+    angle_variance_penalty: 1.0
+
+    # Angular search parameters
+    fine_search_angle_offset: 0.00349     # rad (~0.2°)
+    coarse_search_angle_offset: 0.349     # rad (~20°)
+    coarse_angle_resolution: 0.0349       # rad (~2°)
+    minimum_angle_penalty: 0.9
+    minimum_distance_penalty: 0.5
+    use_response_expansion: true
+
+    debug_logging: false
+    stack_size_to_use: 40000000    # bytes — increase if you see stack overflows