From 8e62de54c5b5174261e70e77f0e6a957dfb5c16e Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Mon, 30 Mar 2020 13:24:23 +0200
Subject: [PATCH] Updated the AMCL parameters to improve simulation.

---
 params/amcl.yaml | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/params/amcl.yaml b/params/amcl.yaml
index 9dc4424..863feb8 100644
--- a/params/amcl.yaml
+++ b/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
-- 
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