Tune Cartographer parameters
Adjust SLAM parameters such as resolution and update rate to improve mapping quality.
The default Cartographer settings may not yield an optimal map for all environments. You can tune the map resolution and publish period using parameters when launching the 2D SLAM configuration. A higher resolution produces finer details but increases computational load.
bash
ros2 launch common_platform cartographer_2d.launch.py resolution:=0.05 publish_period_sec:=1.0
bash
ros2 launch common_platform cartographer_2d.launch.py