slam_toolbox:
  ros__parameters:

    # Plugin params
    solver_plugin: solver_plugins::CeresSolver
    ceres_linear_solver: SPARSE_NORMAL_CHOLESKY
    ceres_preconditioner: SCHUR_JACOBI
    ceres_trust_strategy: LEVENBERG_MARQUARDT
    ceres_dogleg_type: TRADITIONAL_DOGLEG
    ceres_loss_function: None

    # ROS Parameters
    odom_frame: odom
    map_frame: map
    base_frame: base_link
    scan_topic: /scan
    use_map_saver: true
    mode: mapping

    map_start_pose: [0.0, 0.0, 0.0]

    debug_logging: false
    throttle_scans: 1
    transform_publish_period: 0.02
    map_update_interval: 2.0        # Đã tối ưu cho Go2
    resolution: 0.05
    max_laser_range: 10.0            # Đã tối ưu cho Go2 (Văn phòng)
    minimum_time_interval: 0.2      # xử lý nhiều scan hơn (scan 7.7Hz, CPU đã rảnh) -> bám pose sát, map nét hơn
    transform_timeout: 1.0          # nới để map->odom phủ cloud mới -> hết "could not transform odom->map"
    tf_buffer_duration: 30.0
    stack_size_to_use: 40000000
    enable_interactive_mode: true

    # General Parameters
    use_scan_matching: true
    use_scan_barycenter: true
    minimum_travel_distance: 0.1    # keyframe dày hơn -> map chi tiết, khớp scan tốt hơn
    minimum_travel_heading: 0.1     # thêm node mỗi ~5.7 độ xoay -> góc cua nét hơn
    scan_buffer_size: 10
    scan_buffer_maximum_scan_distance: 10.0
    link_match_minimum_response_fine: 0.1  
    link_scan_maximum_distance: 1.5
    loop_search_maximum_distance: 3.0
    do_loop_closing: true 
    loop_match_minimum_chain_size: 10           
    loop_match_maximum_variance_coarse: 3.0  
    loop_match_minimum_response_coarse: 0.35    
    loop_match_minimum_response_fine: 0.65      # Đã tối ưu cho Go2

    # Correlation Parameters
    correlation_search_space_dimension: 0.5
    correlation_search_space_resolution: 0.01
    correlation_search_space_smear_deviation: 0.1 

    # 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: 0.5      
    angle_variance_penalty: 1.0    

    fine_search_angle_offset: 0.00349     
    coarse_search_angle_offset: 0.349   
    coarse_angle_resolution: 0.0349        
    minimum_angle_penalty: 0.9
    minimum_distance_penalty: 0.5
    use_response_expansion: true