tsd_multi_slam.yaml

/tsd_multi_slam:
  ros__parameters:
    cellsize: 0.025
    dist_filter_max: 1.0
    dist_filter_min: 0.1
    epsThresh: 0.15
    icp_iterations: 25
    lamshort: 0.08
    laser_min_range: 0.0
    map_size: 10
    maxAngleDiff: 3.0
    maxAnglePenalty: 0.5
    max_velocity_lin: 1.5
    max_velocity_rot: 6.283185307179586
    object_inflation_factor: 2
    occ_grid_time_interval: 2.0
    percentagePointsInC: 0.9
    pub_tsd_color_map: true
    qos_overrides:
      /parameter_events:
        publisher:
          depth: 1000
          durability: volatile
          history: keep_last
          reliability: reliable
      /tf:
        publisher:
          depth: 100
          durability: volatile
          history: keep_last
          reliability: reliable
    rangemax: 20.0
    ransac_ctrlset_size: 180
    ransac_eps_thresh: 0.15
    ransac_phi_max: 30.0
    ransac_trials: 50
    reg_sin_rot_max: 0.17
    reg_trs_max: 0.25
    registration_mode: 0
    robot_nbr: 1
    sighit: 0.2
    sigphi: 0.05235987755982989
    sizeControlSet: 140
    tf_base_frame: map
    tf_child_frame: laser
    tf_footprint_frame: base_footprint
    trials: 100
    truncation_radius: 3
    ude_odom_rescue: false
    use_object_inflation: false
    use_sim_time: false
    wait_for_odom_tf: 1.0
    x_off_factor: 0.5
    x_offset: 0.0
    y_off_factor: 0.5
    y_offset: 0.0
    zhit: 0.45
    zmax: 0.05
    zphi: 0.0
    zrand: 0.25
    zshort: 0.25