slam_toolbox:
  ros__parameters:
    mode: mapping
    async_mode: true
    use_scan_matching: true
    use_scan_bamatching: true
    minimum_time_interval: 0.5
    minimum_travel_distance: 0.2
    minimum_rotation_deg: 5.0
    correlation_search_space_dimension: 0.5
    correlation_search_space_resolution: 0.05
    correlation_search_space_smear_deviation: 0.1
    correlation_search_space_std_dev_ratio: 0.5
    loop_search_space_dimension: 8.0
    loop_search_space_resolution: 0.05
    scan_buffer_size: 10
    scan_buffer_max_scan_distance: 12.0
    distance_variance_penalty: 0.5
    angle_variance_penalty: 1.0
    fine_search_angle_offset: 0.00349
    coarse_search_angle_offset: 0.349
    coarse_angle_search_step_size: 0.0349
    fine_angle_search_step_size: 0.00349
    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
    do_loop_closing: true
    loop_match_minimum_chain_size: 10
    loop_match_maximum_variance_queue_size: 10
    loop_match_minimum_response_fine: 0.1
    loop_match_minimum_response_coarse: 0.3
    minimum_score_to_accept_loop_closure: 0.07
    do_final_optimization: true
    final_optimization_particle_filter_size: 800
    final_optimization_min_particles: 400
    final_optimization_max_particles: 2000
    final_optimization_threshold_metric_improvement: 0.0002
    add_loops_as_edges: false
    num_for_scan_matching: 0
    icp_iterations: 10
    interactive_mode: false
    print_timing_information: false
    map_frame: map
    odom_frame: odom
    base_frame: base_link
    scan_topic: /scan
    publish_tf: true
    tf_buffer_duration: 30.0
    transform_timeout: 0.2
    queue_size: 10
    throttle_scans: 1
    use_map_saver: true
    map_start_at_dock: true
    map_start_pose: [0.0, 0.0, 0.0]
    rollout_velocity_smoothing_factor: 0.07
    force_turtlebot_rep: false
