From 33048fc72d62001e4a7962bb75954cc24464be71 Mon Sep 17 00:00:00 2001
From: Chris Iverach-Brereton <civerachb@clearpathrobotics.com>
Date: Thu, 19 Sep 2024 17:57:12 -0400
Subject: [PATCH] Revert to using base_link for navigation; the create3 uses
 that for odom, and using a different link appears to break slam_toolbox.
 Update the SLAM launch parameters

---
 .../config/localization.yaml                  |  2 +-
 turtlebot4_navigation/config/nav2.yaml        | 12 +++++------
 turtlebot4_navigation/config/slam.yaml        | 21 ++++++++++---------
 3 files changed, 18 insertions(+), 17 deletions(-)

diff --git a/turtlebot4_navigation/config/localization.yaml b/turtlebot4_navigation/config/localization.yaml
index da3c1f1..9ca39f4 100644
--- a/turtlebot4_navigation/config/localization.yaml
+++ b/turtlebot4_navigation/config/localization.yaml
@@ -6,7 +6,7 @@ amcl:
     alpha3: 0.2
     alpha4: 0.2
     alpha5: 0.2
-    base_frame_id: "base_footprint"
+    base_frame_id: "base_link"
     beam_skip_distance: 0.5
     beam_skip_error_threshold: 0.9
     beam_skip_threshold: 0.3
diff --git a/turtlebot4_navigation/config/nav2.yaml b/turtlebot4_navigation/config/nav2.yaml
index 4ff52de..8b1c18f 100644
--- a/turtlebot4_navigation/config/nav2.yaml
+++ b/turtlebot4_navigation/config/nav2.yaml
@@ -3,7 +3,7 @@ bt_navigator:
     use_sim_time: true
     enable_stamped_cmd_vel: true
     global_frame: map
-    robot_base_frame: base_footprint
+    robot_base_frame: base_link
     odom_topic: odom
     bt_loop_duration: 10
     default_server_timeout: 20
@@ -133,7 +133,7 @@ local_costmap:
       update_frequency: 5.0
       publish_frequency: 2.0
       global_frame: odom
-      robot_base_frame: base_footprint
+      robot_base_frame: base_link
       use_sim_time: true
       rolling_window: true
       width: 3
@@ -178,7 +178,7 @@ global_costmap:
       update_frequency: 1.0
       publish_frequency: 1.0
       global_frame: map
-      robot_base_frame: base_footprint
+      robot_base_frame: base_link
       use_sim_time: true
       robot_radius: 0.175
       resolution: 0.06
@@ -253,7 +253,7 @@ behavior_server:
       plugin: "nav2_behaviors::AssistedTeleop"
     global_frame: map
     local_frame: odom
-    robot_base_frame: base_footprint
+    robot_base_frame: base_link
     transform_tolerance: 0.1
     simulate_ahead_time: 2.0
     max_rotational_vel: 1.0
@@ -297,7 +297,7 @@ collision_monitor:
   ros__parameters:
     use_sim_time: true
     enable_stamped_cmd_vel: true
-    base_frame_id: "base_footprint"
+    base_frame_id: "base_link"
     odom_frame_id: "odom"
     cmd_vel_in_topic: "cmd_vel_smoothed"
     cmd_vel_out_topic: "cmd_vel"
@@ -337,7 +337,7 @@ docking_server:
     undock_linear_tolerance: 0.05
     undock_angular_tolerance: 0.1
     max_retries: 3
-    base_frame: "base_footprint"
+    base_frame: "base_link"
     fixed_frame: "odom"
     dock_backwards: false
     dock_prestaging_tolerance: 0.5
diff --git a/turtlebot4_navigation/config/slam.yaml b/turtlebot4_navigation/config/slam.yaml
index b4522ef..eac796b 100644
--- a/turtlebot4_navigation/config/slam.yaml
+++ b/turtlebot4_navigation/config/slam.yaml
@@ -12,29 +12,30 @@ slam_toolbox:
     # ROS Parameters
     odom_frame: odom
     map_frame: map
-    base_frame: base_footprint
-    scan_topic: scan
+    base_frame: base_link
+    scan_topic: /scan
+    use_map_saver: true
     mode: mapping
 
     debug_logging: false
     throttle_scans: 1
     transform_publish_period: 0.02 #if 0 never publishes odometry
-    map_update_interval: 0.5
+    map_update_interval: 1.0
     resolution: 0.05
-    max_laser_range: 12.0 #for rastering images
-    minimum_time_interval: 0.25
+    max_laser_range: 12.0
+    minimum_time_interval: 0.5
     transform_timeout: 0.2
     tf_buffer_duration: 30.
-    stack_size_to_use: 40000000 #// program needs a larger stack size to serialize large maps
+    stack_size_to_use: 40000000
     enable_interactive_mode: true
 
     # General Parameters
     use_scan_matching: true
     use_scan_barycenter: true
-    minimum_travel_distance: 0.0
-    minimum_travel_heading: 0.0
-    scan_buffer_size: 20
-    scan_buffer_maximum_scan_distance: 12.0
+    minimum_travel_distance: 0.1
+    minimum_travel_heading: 0.1
+    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