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- # General Parameters
- use_scan_matching: true
- use_scan_barycenter: true
- minimum_time_interval: 3600
- minimum_travel_distance: 0.2
- minimum_travel_heading: 0.174 #in radians
- scan_buffer_size: 70 # 70
- scan_buffer_maximum_scan_distance: 20.0 # 20.0
- link_match_minimum_response_fine: 0.8
- link_scan_maximum_distance: 10.0 # 10
- loop_search_maximum_distance: 4.0 # 4
- do_loop_closing: true
- loop_match_minimum_chain_size: 10 # 10
- loop_match_maximum_variance_coarse: 0.4 # gets squared later
- loop_match_minimum_response_coarse: 0.8
- loop_match_minimum_response_fine: 0.8
- # Correlation Parameters - Correlation Parameters
- correlation_search_space_dimension: 0.3
- correlation_search_space_resolution: 0.01
- correlation_search_space_smear_deviation: 0.03
- # 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: 0.3 # gets squared later
- angle_variance_penalty: 0.349 # in degrees (gets converted to radians then squared)
- fine_search_angle_offset: 0.00349 # in degrees (gets converted to radians)
- coarse_search_angle_offset: 0.349 # in degrees (gets converted to radians)
- coarse_angle_resolution: 0.0349 # in degrees (gets converted to radians)
- minimum_angle_penalty: 0.9
- minimum_distance_penalty: 0.5
- use_response_expansion: false
- resolution: 0.02
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