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| <?xml version="1.0"?> | ||
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| <launch> | ||
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| <node pkg="amcl" type="amcl" name="amcl" output="screen"> | ||
| <remap from="scan" to="scan_multi"/> | ||
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| <param name="odom_model_type" value="omni"/> | ||
| <param name="odom_alpha5" value="0.1"/> | ||
| <param name="transform_tolerance" value="0.2" /> | ||
| <param name="gui_publish_rate" value="1.0"/> | ||
| <param name="laser_max_beams" value="30"/> | ||
| <param name="min_particles" value="500"/> | ||
| <param name="max_particles" value="5000"/> | ||
| <param name="kld_err" value="0.05"/> | ||
| <param name="kld_z" value="0.99"/> | ||
| <param name="odom_alpha1" value="0.2"/> | ||
| <param name="odom_alpha2" value="0.2"/> | ||
| <param name="odom_alpha3" value="0.8"/> | ||
| <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_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="0.2"/> | ||
| <param name="update_min_a" value="0.5"/> | ||
| <param name="global_frame_id" value="/map"/> | ||
| <param name="base_frame_id" value="/base_link"/> | ||
| <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="0.0"/> | ||
| <param name="recovery_alpha_fast" value="0.0"/> | ||
| </node> | ||
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| </launch> |