ROS2-SLAM-Fundamental/map_merge/config/params.yaml

24 lines
722 B
YAML

map_merge:
ros__parameters:
merging_rate: 4.0
discovery_rate: 0.05
estimation_rate: 0.5
estimation_confidence: 0.6
robot_map_topic: map
robot_map_updates_topic: map_udpates
robot_namespace: ""
merged_map_topic: map
world_frame: world
known_init_poses: true
# known_init_poses: false
# Define here robots' positions in the map if known_init_poses is true
/robot1/map_merge/init_pose_x: 0.0
/robot1/map_merge/init_pose_y: 0.0
/robot1/map_merge/init_pose_z: 0.0
/robot1/map_merge/init_pose_yaw: 0.0
/robot2/map_merge/init_pose_x: -3.0
/robot2/map_merge/init_pose_y: 1.0
/robot2/map_merge/init_pose_z: 0.0
/robot2/map_merge/init_pose_yaw: 0.0