SlamToolBox:
  # 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

  # 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: 0.02 #if 0 never publishes odometry
  map_update_interval: 10.0
  resolution: 0.05
  max_laser_range: 20.0 #for rastering images
  minimum_time_interval: 0.5
  transform_timeout: 0.2
  tf_buffer_duration: 14400.
  stack_size_to_use: 40000000 #// program needs a larger stack size to serialize large maps
  enable_interactive_mode: true

  # General Parameters
  use_scan_matching: true
  use_scan_barycenter: true
  minimum_travel_distance: 0.5
  minimum_travel_heading: 0.5
  scan_buffer_size: 10
  scan_buffer_maximum_scan_distance: 10
  link_match_minimum_response_fine: 0.1  
  link_scan_maximum_distance: 1.5
  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
