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@awesomebytes
Created April 10, 2020 08:17
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<launch>
<!-- <param name="use_sim_time" value="true"/> -->
<node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen">
<remap from="scan" to="scan"/>
<param name="inverted_laser" value="true"/>
<param name="map_update_interval" value="0.1"/>
<param name="maxUrange" value="16.0"/>
<param name="sigma" value="0.05"/>
<param name="kernelSize" value="1"/>
<param name="lstep" value="0.05"/>
<param name="astep" value="0.05"/>
<param name="iterations" value="5"/>
<param name="lsigma" value="0.075"/>
<param name="ogain" value="3.0"/>
<param name="lskip" value="0"/>
<param name="srr" value="0.1"/>
<param name="srt" value="0.2"/>
<param name="str" value="0.1"/>
<param name="stt" value="0.2"/>
<param name="linearUpdate" value="0.1"/>
<param name="angularUpdate" value="0.1"/>
<param name="temporalUpdate" value="3.0"/>
<param name="resampleThreshold" value="0.5"/>
<param name="particles" value="30"/>
<param name="xmin" value="-50.0"/>
<param name="ymin" value="-50.0"/>
<param name="xmax" value="50.0"/>
<param name="ymax" value="50.0"/>
<param name="delta" value="0.05"/>
<param name="llsamplerange" value="0.01"/>
<param name="llsamplestep" value="0.01"/>
<param name="lasamplerange" value="0.005"/>
<param name="lasamplestep" value="0.005"/>
</node>
</launch>
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