amcl_no_tf.yaml 969 Bytes
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#frames defined in amc.launch
#map_frame_id: map
#odom_frame_id: model_car/odom
#base_frame_id: model_car/base_footprint
initial_pose_x: 0.0
initial_pose_y: 0.0
initial_pose_a: 0.0

# filer parameters
min_particles: 100
max_particles: 5000
kld_err: 0.01
kld_z: 0.99
update_min_d: 0.2
update_min_a: 0.5236
resample_interval: 2
transform_tolerance: 0.1
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
gui_publish_rate: -1.0
save_pose_rate: 0.5
use_map_topic: false
first_map_only: false
# laser parameters
laser_min_range: -1.0
laser_max_range: -1.0
laser_max_beams: 30
laser_z_hit: 0.95
laser_z_short: 0.1
laser_z_max: 0.05
laser_z_rand: 0.05
laser_sigma_hit: 0.2
laser_lambda_short: 0.1
laser_likelihood_max_dist: 2.0
laser_model_type: 'likelihood_field'
# odom parameters
odom_model_type: "diff"
odom_alpha1: 0.2
odom_alpha2: 0.2
odom_alpha3: 0.2
odom_alpha4: 0.2
odom_alpha5: 0.2
tf_broadcast: false