From 5499af6c4e17f38289c3207802c174e93adbe00f Mon Sep 17 00:00:00 2001
From: Your Name <you@example.com>
Date: Mon, 20 Jan 2025 08:44:58 +0100
Subject: [PATCH] update

---
 launch/linus_amcl.launch | 52 ++++++++++++++++++++++++++++++++++++++++
 1 file changed, 52 insertions(+)
 create mode 100644 launch/linus_amcl.launch

diff --git a/launch/linus_amcl.launch b/launch/linus_amcl.launch
new file mode 100644
index 0000000..3ade179
--- /dev/null
+++ b/launch/linus_amcl.launch
@@ -0,0 +1,52 @@
+<?xml version = "1.0"?>
+<launch>
+  <!-- Argument -->
+  <arg name="scan_topic"     default="scan_filtered"/>
+
+<!--******* Initial pose mean, used to initialize filter with Gaussian distribution ********** -->
+<!-- For cps world  -->
+ <arg name="initial_pose_x" default="0.0"/>
+  <arg name="initial_pose_y" default="0.0"/>
+  <arg name="initial_pose_a" default="0.0"/> 
+
+  <!-- ********** AMCL algorithm *********** -->
+  <node pkg="amcl" type="amcl" name="amcl">
+    <param name="min_particles"             value="500"/> 
+    <param name="max_particles"             value="3000"/> 
+    <param name="kld_err"                   value="0.02"/> 
+    <param name="update_min_d"              value="0.20"/> 
+    <param name="update_min_a"              value="0.20"/> 
+    <param name="resample_interval"         value="1"/>   
+    <param name="transform_tolerance"       value="0.5"/> 
+    <param name="recovery_alpha_slow"       value="0.00"/> 
+    <param name="recovery_alpha_fast"       value="0.00"/>
+    <param name="initial_pose_x"            value="$(arg initial_pose_x)"/>
+    <param name="initial_pose_y"            value="$(arg initial_pose_y)"/>
+    <param name="initial_pose_a"            value="$(arg initial_pose_a)"/>
+    <param name="gui_publish_rate"          value="50.0"/>
+
+    <remap from="scan"                      to="$(arg scan_topic)"/>
+    <param name="laser_max_range"           value="16.0"/>  
+    <param name="laser_max_beams"           value="180"/> 
+    <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_likelihood_max_dist" value="2.0"/> 
+    <param name="laser_model_type"          value="likelihood_field"/>
+
+    <param name="odom_model_type"           value="diff"/>  
+    <param name="odom_alpha1"               value="0.1"/>  
+    <param name="odom_alpha2"               value="0.1"/>  
+    <param name="odom_alpha3"               value="0.1"/>  
+    <param name="odom_alpha4"               value="0.1"/>  
+    <param name="odom_frame_id"             value="odom"/> 
+    <param name="base_frame_id"             value="base_link"/> 
+   <!--    
+    <param name="global_frame_id" value="map"/>
+    <param name="tf_broadcast" value="true" />  -->
+
+  </node>
+</launch>