update ros

2026-01-07 09:28:55 +07:00
parent 7cea6bb120
commit ec6d5746e3
58 changed files with 22752 additions and 3773 deletions
--- a/Controllers/Packages/amr_startup/config/localization.yaml
+++ b/Controllers/Packages/amr_startup/config/localization.yaml
@@ -0,0 +1,36 @@
+Amcl:
+  use_map_topic: true
+  odom_model_type: "diff-corrected"
+  gui_publish_rate: 5.0
+  save_pose_rate: 0.5
+  laser_max_beams: 300
+  laser_min_range: -1.0
+  laser_max_range: -1.0
+  min_particles: 1000
+  max_particles: 3000
+  kld_err: 0.05
+  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: 1.0
+  update_min_d: 0.05
+  update_min_a: 0.05
+  odom_frame_id: odom
+  base_frame_id: base_footprint
+  global_frame_id: map
+  resample_interval: 1
+  transform_tolerance: 0.2
+  recovery_alpha_slow: 0.001
+  recovery_alpha_fast: 0.001
+  initial_pose_x: 0.0
+  initial_pose_y: 0.0
+  initial_pose_a: 0.0