Skip to content

Instantly share code, notes, and snippets.

@garaemon

garaemon/amcl.launch

Created June 1, 2010 15:59
Show Gist options
  • Star 0 You must be signed in to star a gist
  • Fork 0 You must be signed in to fork a gist
  • Save garaemon/421089 to your computer and use it in GitHub Desktop.
Save garaemon/421089 to your computer and use it in GitHub Desktop.
Download ZIP
Raw
amcl.launch
<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>
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment