config.yaml

## Common params.

# Directory where the running data is saved.
result_dir: /tmp/cl_nav_slam/
# result_dir: /mnt/DATA/experiments/closedloop_nav_slam/cl_nav_slam_test/
# result_dir: /home/roboslam/slam_ws/result/cl_nav_slam_test/
# result_dir: /home/yanwei/slam_ws/result/cl_nav_slam_test/

test_type: "gazebo"                    # Defines the test type: [gazebo, realworld]
gt_odom_topic: "/ground_truth/odom"    # Ground truth odometry topic name.
robot_odom_topic: "/odom"              # Robot odometry topic name (wheel odom mostly).
et_odom_topic: "/visual/odom"          # Estimated odometry topic.
gt_pose_topic: "/slam/pose"            # Ground truth pose topic.
et_pose_topic: "/visual/pose"          # Estimated pose topic.
save_results: true                     # Flag to toggle running results saving.

## Map/World parmeters.
env_name: "aws_hospital"               # World/map name.
robot_init_pose: [0, 10, 0.0, 0.0]     # Robot start location:  (x, y, z, theta), must be the same as in gazebo launch.
                                       # Other maps: {
                                       #     "aws_small_warehouse": [0,  0, 0.034, 0]
                                       #     "aws_small_house":     [0,  0, 0, 0]
                                       #     "aws_small_hosptial":  [0, 10, 0, 0]
                                       #     "tsrb":                [-40, 14, 0, 0]
                                       # }
                                       #
path_files: ["path0"]                  # Define the path file.
trials: 10                             # Define the trials/rounds (loops are defined in each slam method).
                                       # In realworld test, this value must be 1, because the robot requires 
                                       # manually reset after each trial.

## Move base params.
goal_reached_orient_thresh: 0.25                     # In radian.
goal_reached_thresh: 0.2                             # In meters.
nav_name: "teb"                                      # Nav name: ["teb", "gpf"]
move_base_prefix: "/move_base/TebLocalPlannerROS"    # ROS topic/service prefix. No trailing of "/".
                                                     # ["/move_base/TebLocalPlannerROS", "/move_base_gpf"]

## SLAM params.
slam_methods: ["slam_toolbox"]  # SLAM method names.
enable_gt_slam_method: false    # Flag to turn on slam_toolbox alongside with running other SLAM methods.
enable_wheel_odometry: false    # Flag to disturb wheel odometry, valid for simulation only!
save_map: false                 # Flag to save the grid map after each trial.

## MSF params.
# enable_msf: true
# slam_sensor_type: "stereo"
# source_msg_parent_frame: "base_footprint"
# source_msg_child_frame: "gyro_link"