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git commit -m "first commit for v2"

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HiepLM
2025-12-29 16:21:22 +07:00
commit aa3d832d5c
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Localizations/Packages/loc_base/config/localization.yaml Normal file
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Amcl:
use_map_topic: true
odom_model_type: "diff-corrected"
gui_publish_rate: 10.0
save_pose_rate: 0.5
laser_max_beams: 200
laser_min_range: -1.0
laser_max_range: -1.0
min_particles: 500
max_particles: 5000
kld_err: 0.09
kld_z: 0.99
odom_alpha1: 0.02
odom_alpha2: 0.01
odom_alpha3: 0.01
odom_alpha4: 0.02
laser_z_hit: 0.5
laser_z_short: 0.05
laser_z_max: 0.05
laser_z_rand: 0.5
laser_sigma_hit: 0.2
laser_lambda_short: 0.1
laser_model_type: "likelihood_field"
laser_likelihood_max_dist: 2.0
update_min_d: 0.2
update_min_a: 0.2
odom_frame_id: odom
base_frame_id: base_footprint
global_frame_id: map
resample_interval: 1
transform_tolerance: 0.2
recovery_alpha_slow: 0.0
recovery_alpha_fast: 0.0