git commit -m "first commit for v2"

Controllers/Packages/amr_startup/config/mapping.yaml

@@ -0,0 +1,63 @@
+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