Add slam parameters

config/slam_params.yaml

@@ -0,0 +1,65 @@
+slam_toolbox:
+  ros__parameters:
+    # Plugin params
+    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 #HuberLoss
+
+    # ROS Parameters
+    odom_frame: odom
+    map_frame: map
+    base_frame: base_link
+    scan_topic: /scan
+    mode: mapping #localization
+
+    debug_logging: false
+    throttle_scans: 1
+    transform_publish_period: 0.04
+    map_update_interval: 1.0
+    resolution: 0.05
+    max_laser_range: 12.0 #for rastering images
+    minimum_time_interval: 0.05
+    transform_timeout: 0.1
+    tf_buffer_duration: 20.0
+    stack_size_to_use: 40000000 #// program needs a larger stack size to serialize large maps
+    enable_interactive_mode: false
+
+    # General Parameters
+    use_scan_matching: true
+    use_scan_barycenter: true
+    minimum_travel_distance: 0.2
+    minimum_travel_heading: 0.1
+    scan_buffer_size: 10
+    scan_buffer_maximum_scan_distance: 0.5
+    link_match_minimum_response_fine: 0.1
+    link_scan_maximum_distance: 0.75
+    loop_search_maximum_distance: 3.0
+    do_loop_closing: true
+    loop_match_minimum_chain_size: 10
+    loop_match_maximum_variance_coarse: 3.0
+    loop_match_minimum_response_coarse: 0.35
+    loop_match_minimum_response_fine: 0.45
+
+    # Correlation Parameters - Correlation Parameters
+    correlation_search_space_dimension: 0.5
+    correlation_search_space_resolution: 0.01
+    correlation_search_space_smear_deviation: 0.1
+
+    # Correlation Parameters - Loop Closure Parameters
+    loop_search_space_dimension: 8.0
+    loop_search_space_resolution: 0.05
+    loop_search_space_smear_deviation: 0.03
+
+    # Scan Matcher Parameters
+    distance_variance_penalty: 0.5
+    angle_variance_penalty: 1.0
+
+    fine_search_angle_offset: 0.00349
+    coarse_search_angle_offset: 0.349
+    coarse_angle_resolution: 0.0349
+    minimum_angle_penalty: 0.9
+    minimum_distance_penalty: 0.5
+    use_response_expansion: true

turtlebot3c-gadget/gadget/gadget-amd64.yaml

@@ -72,6 +72,7 @@ defaults:
     simulation: "True"
     navigation-config: "https://raw.githubusercontent.com/ubuntu-robotics/turtlebot3c-ubuntu-core/refs/heads/humble-virtual/config/nav2_params.yaml"
     localization-config: "https://raw.githubusercontent.com/ubuntu-robotics/turtlebot3c-ubuntu-core/refs/heads/humble-virtual/config/localization_params.yaml"
+    slam-config: "https://raw.githubusercontent.com/ubuntu-robotics/turtlebot3c-ubuntu-core/refs/heads/humble-virtual/config/slam_params.yaml"
 
 connections:
   # robot-model-server <-> turtlebot3c-model

turtlebot3c-gadget/gadget/gadget-arm64.yaml

@@ -57,6 +57,7 @@ defaults:
     simulation: "True"
     navigation-config: "https://raw.githubusercontent.com/ubuntu-robotics/turtlebot3c-ubuntu-core/refs/heads/humble-virtual/config/nav2_params.yaml"
     localization-config: "https://raw.githubusercontent.com/ubuntu-robotics/turtlebot3c-ubuntu-core/refs/heads/humble-virtual/config/localization_params.yaml"
+    slam-config: "https://raw.githubusercontent.com/ubuntu-robotics/turtlebot3c-ubuntu-core/refs/heads/humble-virtual/config/slam_params.yaml"
 
 connections:
   # robot-model-server <-> turtlebot3c-model