zaWRka-project/wr8_software/launch/base/amcl.launch at develop · lsd-maddrive/zaWRka-project · GitHub

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<?xml version="1.0"?>
<launch>
  <arg name="base_frame"    default="base_footprint" />
  <arg name="odom_frame"    default="odom" />
  <arg name="global_frame"  default="map" />
  <arg name="scan_topic"    default="scan" />
  <arg name="x"             default="0"/>
  <arg name="y"             default="0"/>
  <arg name="yaw"           default="0"/>

  <node pkg="amcl" type="amcl" name="amcl" output="screen">
    <param name="odom_frame_id" value="$(arg odom_frame)" />
    <param name="base_frame_id" value="$(arg base_frame)" />
    <param name="global_frame_id" value="$(arg global_frame)" />

    <param name="odom_model_type" value="diff"/>
    <param name="transform_tolerance" value="0.2" />
    <param name="gui_publish_rate" value="10.0"/>

    <param name="laser_max_beams" value="360"/>
    <param name="min_particles" value="1000"/>
    <param name="max_particles" value="5000"/>

    <param name="kld_err" value="0.01"/>
    <param name="kld_z" value="0.99"/>

    <param name="odom_alpha1" value="10"/>
    <param name="odom_alpha2" value="10"/>
    <param name="odom_alpha3" value="0.2"/>
    <param name="odom_alpha4" value="0.2"/>

    <param name="laser_z_hit" value="0.5"/>
    <param name="laser_z_short" value="0.05"/>
    <param name="laser_z_max" value="0.05"/>
    <param name="laser_z_rand" value="0.5"/>
    <param name="laser_sigma_hit" value="0.2"/>
    <param name="laser_lambda_short" value="0.1"/>
    <param name="laser_model_type" value="likelihood_field"/>
    <param name="laser_likelihood_max_dist" value="2.0"/>

    <param name="update_min_d" value="0.05"/>
    <param name="update_min_a" value="0.03"/>

    <param name="odom_frame_id" value="odom"/>

    <param name="resample_interval" value="1"/>

    <param name="transform_tolerance" value="0.1"/>
    <param name="recovery_alpha_slow" value="0.01"/>
    <param name="recovery_alpha_fast" value="0.1"/>

    <param name="initial_pose_x" value="$(arg x)"/>
    <param name="initial_pose_y" value="$(arg y)"/>
    <param name="initial_pose_a" value="$(arg yaw)"/>

    <param name="initial_cov_xx" value="0.1"/>
    <param name="initial_cov_yy" value="0.0"/>
    <param name="initial_cov_aa" value="0.0"/>

    <param name="first_map_only" value="false"/>

    <remap from="scan" to="$(arg scan_topic)"/>
  </node>
</launch>