Updated the AMCL parameters to improve simulation.

params/amcl.yaml

@@ -11,7 +11,7 @@ max_particles: 5000
 kld_err: 0.01
 kld_z: 0.99
 update_min_d: 0.2
-update_min_a: 0.2
+update_min_a: 0.1
 resample_interval: 2
 transform_tolerance: 0.1
 recovery_alpha_slow: 0.0
@@ -37,9 +37,9 @@ laser_likelihood_max_dist: 2.0
 laser_model_type: 'likelihood_field'
 # odom parameters
 odom_model_type: "diff"
-odom_alpha1: 1.0
-odom_alpha2: 1.0
-odom_alpha3: 0.2
-odom_alpha4: 0.2
+odom_alpha1: 0.2
+odom_alpha2: 0.2
+odom_alpha3: 0.1
+odom_alpha4: 0.1
 odom_alpha5: 0.2
 tf_broadcast: true