SLAM-toolbox

gazebo 11 - ROS 2 Humble

Launchfile

slam_node = Node(
        package='slam_toolbox',
        executable='async_slam_toolbox_node',
        name='slam',
        output='screen',
        parameters=[slam_params_file, {'use_sim_time': use_sim_time}],
    )

Configuration

slam:
  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

    # ROS Parameters
    odom_frame: odom
    map_frame: map
    base_frame: base_link
    scan_topic: /scan_filtered #/scan
    mode: mapping #localization

    # if you'd like to immediately start continuing a map at a given pose
    # or at the dock, but they are mutually exclusive, if pose is given
    # will use pose
    # scan_queue_size: 1
    # map_file_name: /home/aayli/Husarion/ros2_ws/src/tutorial_pkg/maps/map_serialized
    # map_start_pose: [0.0, 0.0, 0.0]
    # map_start_at_dock: true
    debug_logging: true

    throttle_scans: 1
    transform_publish_period: 0.02 # If 0 never publishes odometry
    map_update_interval: 2.0
    resolution: 0.04
    max_laser_range: 12.0
    minimum_time_interval: 0.1
    transform_timeout: 0.2
    tf_buffer_duration: 20.0
    stack_size_to_use: 40000000
    enable_interactive_mode: false

    # General Parameters
    use_scan_matching: true
    use_scan_barycenter: true
    minimum_travel_distance: 0.3
    minimum_travel_heading: 0.5
    scan_buffer_size: 10
    scan_buffer_maximum_scan_distance: 7.0
    link_match_minimum_response_fine: 0.1
    link_scan_maximum_distance: 1.0
    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

Failure