Package to Launch slam_toolbox

This package only contains launch and config files which call the slam_toolbox executables. Note. presently the slam_toolbox is installed as binaries from the apt repository

Which launch file to use?

1. The online_sync file would be preferred as it allows for better loop closure
2. The async is less computationally intensive as it does not process every frame that it receives

Config file nitty-gritties

The config file has a few parameters which must be set right. As per the TF tree we developed in slam_toolbox_tf2 and repub_velo repositories, we configure the slam_tooblox to look at specific topics as shown below:

  slam_toolbox:
  ros__parameters:

    # Plugin params
    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

    # ROS Parameters
    odom_frame: odom
    map_frame: map
    base_frame: base_footprint
    scan_topic: /scan_new
    mode: mapping #localization

The mode here is set to mapping, but as shown it can also be set to localization. However, in localization mode, a pre-existing map and the path to that map should be configured in the same config file (not shown in here, since I'm yet to do localization myself).