ros_minibot_ws/src/robot_navigation/launch/hector_mapping.launch

<!--
  Author: corvin
  Description: hector mapping.
  History:
    20180601: initial this file.
-->
<launch>
  <arg name="map_scanmatch_frame_name" default="scanmatcher_frame"/>
  <arg name="pub_map_odom_transform"   default="true"/>
  <arg name="scan_queue_size"          default="10"/>
  <arg name="base_frame" default="/base_link" />
  <arg name="odom_frame" default="/odom" />
  <arg name="map_frame" default="/map" />
  <arg name="scan_topic" default="/scan" />
  <arg name="map_size"   default="512" />

  <!-- startup ydlidar -->
  <include file="$(find ydlidar)/launch/lidar.launch" />

  <node pkg="hector_mapping" type="hector_mapping" name="hector_mapping" output="screen">
    <!-- Frame names -->
    <param name="map_frame" value="$(arg map_frame)" />
    <param name="base_frame" value="$(arg base_frame)" />
    <param name="odom_frame" value="$(arg odom_frame)" />

    <!-- Map resolution/size/start point -->
    <param name="map_resolution" value="0.04"/>
    <param name="map_size"       value="$(arg map_size)"/>
    <param name="map_start_x"    value="0.2" />
    <param name="map_start_y"    value="0.2" />

    <!-- Map update parameters -->
    <param name="map_update_distance_thresh" value="0.45" />
    <param name="map_update_angle_thresh"    value="0.30" />
    <param name="map_pub_period"             value="2.2" />
    <param name="map_multi_res_levels"       value="2" />
    <param name="update_factor_free"         value="0.4" />
    <param name="update_factor_occupied"     value="0.9" />

    <!-- lidar laser parameters -->
    <param name="scan_topic"         value="$(arg scan_topic)" />
    <param name="laser_min_dist"     value="0.06" />
    <param name="laser_max_dist"     value="4.09" />
    <param name="laser_z_min_value"  value="-1.0" />
    <param name="laser_z_max_value"  value="1.0" />

    <param name="output_timing"              value="false"/>
    <param name="scan_subscriber_queue_size" value="$(arg scan_queue_size)"/>
    <param name="pub_map_odom_transform"     value="$(arg pub_map_odom_transform)"/>

    <param name="advertise_map_service"      value="true" />
    <param name="use_tf_scan_transformation" value="true" />
    <param name="use_tf_pose_start_estimate" value="true" />
    <param name="tf_map_scanmatch_transform_frame_name" value="$(arg map_scanmatch_frame_name)" />
  </node>

  <node pkg="tf" type="static_transform_publisher" name="map_to_odom" args="0.0 0.0 0.0 0 0 0.0 /map /odom 100"/>
</launch>