35 lines
773 B
YAML
35 lines
773 B
YAML
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
|
|
|