changed_cells_topic: name of the changed cells topic
map_topic: name of the map topic
processed_map_topic: /processed_map name of the updated map topic
map_updater:
base_frame: name of the robot base frame name
map_frame: name of the map frame
scan_topic: name of the scan topic
odom_topic: name of the odom topic
update_map_online: true
init_buffers: false
min_angle_increment: 0.1 #0.5 # expressed in degrees, it determines the considered beams number
The pairing distance is taken as a function of the measured range R. In particular, it grows linearly with R until saturation is reached The configurable parameters are: saturation value and the desired pairing distance for two different range measurement
range_1_pair: 0.2
pairing_distance_1: 0.15
range_2_pair: 10.0
pairing_distance_2: 0.28
pairing_distance_saturation: 0.3
buffer_size: 10 rolling buffer size
counters_change_threshold: 7 cell is considered as changed if the corresponding counter is greater than this threshold
counters_change_hysteresis: 0
scan_update_interval: 0.3 min time that has to elapse between two scans processing
min_linear_displacement: 0.4 min distance that the robot has to travel between two scans processing
min_angular_displacement: 45.0 expressed in degrees
max_beam_range: 18.0 measurements greater than this will be discarded
max_range_tol: 0.8 virtual beams will measure no more than "max_beam_range" + "max_range_tol"
virtual_to_measured_beam_ratio: 1 determines the number of virtual beams
min_search_window_halfwidth_degrees: 4.0 expressed in degrees
max_trusted_angular_velocity: 12 expressed in degrees/s
min_idle_duration: 1.2 min idle state time induced by a quick rotation
min_idle_distance: 1.6
final_chunk_skip_fraction: 0.02 final fraction of the beam that is skipped when doing ray casting for anomalous beams analysis
min_chunk_skip_length: 0.15 min skipped length
skip_fraction_false_positive: 0.02 final fraction of the beam that is skipped when doing ray casting for false positive detection
N_skip_anomalous: 2 number of not anomalous beams that has to be skipped near an anomalous beam
max_anomalous_beam_fraction: 0.8
For each anomalous point, a search for an occupied cell is performed within a circle centered in the hit point and with radius that grows linearly with the measured range
update_localization: updated_map_topic: name of the updated map topic global_frame: name of the map frame laser_topic: name of the scan topic global_pose_topic: name of the localisation algorithm global pose topic filter_initial_pose_topic: name of the topic to re-initialise the filter psoe