testing some params -rough performance gain

src/navigation/nav_bringup/config/slam_toolbox_params.yaml

@@ -27,7 +27,7 @@ slam_toolbox_node:
     enable_interactive_mode: false  # Interactive mode will retain a cache of laser scans mapped to their ID for visualization in interactive mode
     position_covariance_scale: 2.0  # This can be used to tune the influence of the pose position in a downstream localization filter
     yaw_covariance_scale: 1.5  # Pose yaw
-    resolution: 0.05  # Resolution of the 2D occupancy map to generate
+    resolution: 0.1  # Resolution of the 2D occupancy map to generate
     max_laser_range: 25.0  # Maximum laser range to use for 2D occupancy map rastering
     minimum_time_interval: 0.1  # The minimum duration of time between scans to be processed in synchronous mode
     transform_timeout: 0.5  # TF timeout for looking up transforms
@@ -38,10 +38,10 @@ slam_toolbox_node:
     use_scan_matching: true  # Whether to use scan matching to refine odometric pose
     use_scan_barycenter: false  # Whether to use the barycenter or scan pose
 
-    minimum_travel_distance: 0.05  # Minimum distance of travel before processing a new scan
-    minimum_travel_heading: 0.2  # Minimum changing in heading to justify an update
+    minimum_travel_distance: 0.1  # Minimum distance of travel before processing a new scan
+    minimum_travel_heading: 0.1  # Minimum changing in heading to justify an update
 
-    scan_buffer_size: 10  # The number of scans to buffer into a chain, also used as the number of scans in the circular buffer of localization mode
+    scan_buffer_size: 20  # The number of scans to buffer into a chain, also used as the number of scans in the circular buffer of localization mode
     scan_buffer_maximum_scan_distance: 10.0  # Maximum distance of a scan from the pose before removing the scan from the buffer
 
     link_match_minimum_response_fine: 0.1  # The threshold link matching algorithm response for fine resolution to pass
@@ -63,7 +63,7 @@ slam_toolbox_node:
     loop_search_space_smear_deviation: 0.03  # A penalty to apply to a matched scan as it differs from the odometric pose
 
     distance_variance_penalty: 0.5  # A penalty to apply to a matched scan as it differs from the odometric pose
-    angle_variance_penalty: 1.0  # A penalty to apply to a matched scan as it differs from the odometric pose
+    angle_variance_penalty: 0.6  # A penalty to apply to a matched scan as it differs from the odometric pose
 
     fine_search_angle_offset: 0.00349  # Range of angles to test for fine scan matching
     coarse_search_angle_offset: 0.349  # Range of angles to test for coarse scan matching