fix(craic_localization): optimize SLAM and AMCL parameters for 4x4m field

gmapping: shrink map bounds from 20x20m to 5x5m (xmin/max: -0.5/4.5), increase grid resolution from 5cm to 2cm (delta: 0.02), more particles (50), tighter update thresholds (linear 0.1, angular 0.2)

amcl: raise motion noise 10x (alpha1-2,5: 0.005->0.05, alpha3-4: 0.1) to stop blindly trusting rf2o, clamp laser range to 5m, tighten likelihood window to 1.5m, reduce update thresholds (d: 0.02, a: 0.03), disable random particle injection (recovery_alpha: 0.0)

Ultraworked with [Sisyphus](https://github.com/code-yeongyu/oh-my-openagent)

Co-authored-by: Sisyphus <clio-agent@sisyphuslabs.ai>

ros2/src/craic_localization/config/amcl.yaml

@@ -19,12 +19,12 @@ amcl:
     odom_frame_id: "odom"
     scan_topic: "scan"
 
-    # ===== 运动模型噪声（按里程计实际精度调）=====
-    alpha1: 0.005
-    alpha2: 0.005
-    alpha3: 0.005
-    alpha4: 0.005
-    alpha5: 0.005
+    # ===== 运动模型噪声 =====
+    alpha1: 0.05
+    alpha2: 0.05
+    alpha3: 0.1
+    alpha4: 0.1
+    alpha5: 0.05
 
     # ===== 粒子滤波 =====
     min_particles: 500
@@ -32,21 +32,25 @@ amcl:
     pf_err: 0.05
     resample_interval: 5
 
-    # ===== 激光模型（匹配 TminiPro：12m）=====
+    # ===== 激光模型（匹配 5×5m 边界）=====
     laser_model_type: "likelihood_field"
-    laser_max_range: 12.0
+    laser_max_range: 5.0
     laser_min_range: -1.0
     max_beams: 500
     sigma_hit: 0.05
     z_hit: 0.5
     z_rand: 0.03
-    laser_likelihood_max_dist: 2.0
+    laser_likelihood_max_dist: 1.5
 
     # ===== 更新策略 =====
-    update_min_d: 0.05
-    update_min_a: 0.05
+    update_min_d: 0.02
+    update_min_a: 0.03
     transform_tolerance: 0.5
 
+    # ===== 恢复：小场地关闭随机粒子注入 =====
+    recovery_alpha_slow: 0.0
+    recovery_alpha_fast: 0.0
+
     # ===== 初始位姿（按机器人在场地中的起始点设置；可被 launch 覆盖）=====
     set_initial_pose: true
     initial_pose:

ros2/src/craic_localization/config/gmapping.yaml

@@ -1,8 +1,6 @@
-# gmapping(slam_gmapping) 建图参数 —— 改自 lzu_robot/src/slam_gmapping/params/slam_gmapping.yaml
-# 帧：base_frame=base_footprint（与 chassis_odometry 一致），odom_frame=odom，map_frame=map
-# 适配 385×385cm 小场地：maxUrange 4m 足够覆盖；delta 0.05 = 5cm 栅格
-# 用 /** 通配键确保参数无论节点全限定名如何都能生效（lzu 用 /slam_gmapping 键，
-# 其 TF 树恰好有 base_link 才掩盖了键不匹配、参数全默认的问题；我们没有 base_link 会直接报错）
+# gmapping(slam_gmapping) 建图参数 —— 为 4×4m 场地优化
+# 帧：base_frame=base_footprint, odom_frame=odom, map_frame=map
+# 地图缩减到 5×5m（场地 4×4m + 各 0.5m 余量），栅格分辨率 2cm
 /**:
   ros__parameters:
     base_frame: base_footprint
@@ -10,11 +8,11 @@
     map_frame: map
     map_update_interval: 5.0
     maxUrange: 4.0
-    maxRange: 6.0
-    delta: 0.05
-    particles: 30
-    linearUpdate: 0.3
-    angularUpdate: 0.5
+    maxRange: 5.0
+    delta: 0.02
+    particles: 50
+    linearUpdate: 0.1
+    angularUpdate: 0.2
     temporalUpdate: 1.0
     resampleThreshold: 0.5
     minimum_score: 0.0
@@ -36,11 +34,11 @@
     llsamplestep: 0.01
     lasamplerange: 0.005
     lasamplestep: 0.005
-    # 地图范围（米）
-    xmin: -10.0
-    xmax: 10.0
-    ymin: -10.0
-    ymax: 10.0
+    # 地图范围（米）—— 4×4m 场地 + 0.5m 余量
+    xmin: -0.5
+    xmax: 4.5
+    ymin: -0.5
+    ymax: 4.5
     occ_thresh: 0.25
     transform_publish_period: 0.05
     use_sim_time: false