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@garaemon
Created June 1, 2010 15:59
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<node pkg="amcl" type="amcl" name="amcl" machine="amcl-machine">
<param name="odom_alpha1" value="5"/> <!-- dtheta -> x -->
<param name="odom_alpha2" value="10"/> <!-- dx -> theta -->
<param name="odom_alpha3" value="5"/> <!-- dx -> x -->
<param name="odom_alpha4" value="5"/> <!-- dtheta -> theta -->
<param name="odom_alpha5" value="5"/> <!-- slip -->
<param name="update_min_d" value="0.05"/>
<param name="update_min_a" value="0.1"/>
<!-- for AmclNode::uniformPoseGenerator bug -->
<param name="recovery_alpha_slow" value="0.000"/>
<param name="recovery_alpha_fast" value="0.000"/>
</node>
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