37 lines
844 B
YAML
37 lines
844 B
YAML
Amcl:
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use_map_topic: true
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odom_model_type: "diff-corrected"
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gui_publish_rate: 5.0
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save_pose_rate: 0.5
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laser_max_beams: 300
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laser_min_range: -1.0
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laser_max_range: -1.0
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min_particles: 1000
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max_particles: 3000
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kld_err: 0.05
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kld_z: 0.99
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odom_alpha1: 0.02
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odom_alpha2: 0.01
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odom_alpha3: 0.01
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odom_alpha4: 0.02
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laser_z_hit: 0.5
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laser_z_short: 0.05
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laser_z_max: 0.05
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laser_z_rand: 0.5
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laser_sigma_hit: 0.2
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laser_lambda_short: 0.1
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laser_model_type: "likelihood_field"
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laser_likelihood_max_dist: 1.0
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update_min_d: 0.05
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update_min_a: 0.05
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odom_frame_id: odom
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base_frame_id: base_footprint
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global_frame_id: map
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resample_interval: 1
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transform_tolerance: 0.2
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recovery_alpha_slow: 0.001
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recovery_alpha_fast: 0.001
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initial_pose_x: 0.0
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initial_pose_y: 0.0
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initial_pose_a: 0.0
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