47 lines
2.1 KiB
XML
47 lines
2.1 KiB
XML
<launch>
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<!-- Arguments -->
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<arg name="scan_topic" default="scan"/>
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<arg name="initial_pose_x" default="0.0"/>
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<arg name="initial_pose_y" default="0.0"/>
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<arg name="initial_pose_a" default="0.0"/>
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<!-- AMCL -->
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<node pkg="amcl" type="amcl" name="amcl">
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<param name="min_particles" value="500"/>
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<param name="max_particles" value="3000"/>
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<param name="kld_err" value="0.02"/>
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<param name="update_min_d" value="0.20"/>
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<param name="update_min_a" value="0.20"/>
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<param name="resample_interval" value="1"/>
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<param name="transform_tolerance" value="1"/>
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<param name="recovery_alpha_slow" value="0.00"/>
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<param name="recovery_alpha_fast" value="0.00"/>
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<param name="initial_pose_x" value="$(arg initial_pose_x)"/>
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<param name="initial_pose_y" value="$(arg initial_pose_y)"/>
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<param name="initial_pose_a" value="$(arg initial_pose_a)"/>
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<param name="gui_publish_rate" value="50.0"/>
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<remap from="scan" to="$(arg scan_topic)"/>
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<param name="laser_max_range" value="3.5"/>
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<param name="laser_max_beams" value="180"/>
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<param name="laser_z_hit" value="0.5"/>
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<param name="laser_z_short" value="0.05"/>
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<param name="laser_z_max" value="0.05"/>
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<param name="laser_z_rand" value="0.5"/>
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<param name="laser_sigma_hit" value="0.2"/>
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<param name="laser_lambda_short" value="0.1"/>
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<param name="laser_likelihood_max_dist" value="2.0"/>
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<param name="laser_model_type" value="likelihood_field"/>
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<param name="odom_model_type" value="diff"/>
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<param name="odom_alpha1" value="0.1"/>
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<param name="odom_alpha2" value="0.1"/>
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<param name="odom_alpha3" value="0.1"/>
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<param name="odom_alpha4" value="0.1"/>
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<param name="odom_frame_id" value="odom"/>
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<param name="base_frame_id" value="base_footprint"/>
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</node>
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</launch>
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