slam_toolbox:
  ros__parameters:
    use_sim_time: true
    mode: mapping
    map_frame: map
    odom_frame: odom
    base_frame: base_link
    scan_topic: /scan
    use_map_saver: false
    use_lifecycle_manager: false
    enable_interactive_mode: false
    resolution: 0.05
    map_update_interval: 0.2
    transform_publish_period: 0.05
    transform_timeout: 0.2
    tf_buffer_duration: 30.0
    restamp_tf: false
    scan_queue_size: 10
    throttle_scans: 1
    minimum_time_interval: 0.1
    minimum_travel_distance: 0.05
    minimum_travel_heading: 0.05
    use_scan_matching: true
    use_scan_barycenter: true
    do_loop_closing: false
    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