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fix(craic_localization): increase grid resolution to 1cm for 4x4m field

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gmapping delta: 0.02 -> 0.01, 5m x 5m map = 500x500 cells

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

Co-authored-by: Sisyphus <clio-agent@sisyphuslabs.ai>
This commit is contained in:
FallenSigh
2026-06-19 07:51:45 +08:00
parent 752f78f0ad
commit 7ed065e399
1 changed files with 2 additions and 2 deletions
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4
ros2/src/craic_localization/config/gmapping.yaml
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@@ -1,6 +1,6 @@
# gmapping(slam_gmapping) 建图参数 —— 为 4×4m 场地优化 # 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 # 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 # 地图缩减到 5×5m（场地 4×4m + 各 0.5m 余量），栅格分辨率 1cm
/**: /**:
ros__parameters: ros__parameters:
base_frame: base_footprint base_frame: base_footprint
@@ -9,7 +9,7 @@
map_update_interval: 5.0 map_update_interval: 5.0
maxUrange: 4.0 maxUrange: 4.0
maxRange: 5.0 maxRange: 5.0
delta: 0.02 delta: 0.01
particles: 50 particles: 50
linearUpdate: 0.1 linearUpdate: 0.1
angularUpdate: 0.2 angularUpdate: 0.2