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