From 6f254046b8157780f12e7173ed6f5ed73404c2a0 Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Thu, 5 Mar 2020 11:41:09 +0100
Subject: [PATCH] Updated the AMCL parameters to avoid localization errors in
 simulation.

---
 params/amcl.yaml | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/params/amcl.yaml b/params/amcl.yaml
index 7d770be..9dc4424 100644
--- a/params/amcl.yaml
+++ b/params/amcl.yaml
@@ -10,12 +10,12 @@ min_particles: 100
 max_particles: 5000
 kld_err: 0.01
 kld_z: 0.99
-update_min_d: 0.1
-update_min_a: 0.1
+update_min_d: 0.2
+update_min_a: 0.2
 resample_interval: 2
 transform_tolerance: 0.1
-recovery_alpha_slow: 0.1
-recovery_alpha_fast: 0.5
+recovery_alpha_slow: 0.0
+recovery_alpha_fast: 0.0
 initial_cov_xx: 0.25
 initial_cov_yy: 0.25
 initial_cov_aa: 0.0685
@@ -37,8 +37,8 @@ laser_likelihood_max_dist: 2.0
 laser_model_type: 'likelihood_field'
 # odom parameters
 odom_model_type: "diff"
-odom_alpha1: 5.0
-odom_alpha2: 5.0
+odom_alpha1: 1.0
+odom_alpha2: 1.0
 odom_alpha3: 0.2
 odom_alpha4: 0.2
 odom_alpha5: 0.2
-- 
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