'frame_id': 'base_link',
            'odom_frame_id': 'base_link',
            'map_frame_id': 'map',
            'subscribe_depth': True,
            'subscribe_rgbd': False,
            'subscribe_scan': False,
            'approx_sync': True,
            'sync_queue_size': 30,

            # --- Parametri Odometria/SLAM (calcolati internamente) ---
            # 'visual_odometry': True,                        #commented - doesn't exist!?
            'RGBD/NeighborLinkRefining': 'true', 
            'Reg/Force3DoF': 'false',
            'RGBD/LinearUpdate': '0.0',
            'RGBD/AngularUpdate': '0.0',
            'RGBD/MaxDepth': '3.5',
            'Mem/IncrementalMemory': 'true',
            'Mem/DepthCompressionFormat': '.png',
            'Vis/MinInliers': '15',

            # --- Parametri Mappatura/Memoria ---
            'RGBD/OptimizeMaxError': '3.0', 
            'RGBD/ProximityBySpace': 'false',
            #'Mem/UseOdomFeatures': 'true',          #commented
            'Mem/ImagePreDecimation': '4',
            'Rtabmap/DetectionRate': '0.3', 
            'Grid/FromDepth': 'true', 
            'Grid/RayTracing': 'false', 
            'Grid/3D': 'true',
            'Grid/CellSize': '0.1',

            # --- Parametri Registrazione/Loop Closure ---
            'Reg/Strategy': '0',             
            'Optimizer/Slam2D': 'false',

            # --- Parametri TF ---
            'wait_for_transform': 0.3,
            'tf_delay': 0.05,
            'tf_tolerance': 0.1,
            
            # --- Parametri Keypoint ---
            'Kp/MaxFeatures': '-1',

            #Quality Of Service QoS
            'qos_image': 2, 
            'qos_camera_info': 2,