From 6a884433a4e3dcf7ae0fc7bd155d9bd8bd669b38 Mon Sep 17 00:00:00 2001
From: bjoernellens1 <64093272+bjoernellens1@users.noreply.github.com>
Date: Mon, 10 Feb 2025 12:53:01 +0100
Subject: [PATCH] Update linus_amcl.launch

---
 launch/linus_amcl.launch | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/launch/linus_amcl.launch b/launch/linus_amcl.launch
index 9d8dab1..79dd787 100644
--- a/launch/linus_amcl.launch
+++ b/launch/linus_amcl.launch
@@ -49,13 +49,13 @@
     <!-- odom paramters: may raise alphas to compensate for bad odometry-->
     <param name="odom_model_type"           value="diff"/>  
     <!-- <param name="odom_alpha1"               value="0.1"/> -->
-    <param name="odom_alpha1"               value="0.2"/>    
+    <param name="odom_alpha1"               value="1.0"/>    
     <!-- <param name="odom_alpha2"               value="0.1"/> -->
-    <param name="odom_alpha2"               value="0.2"/>    
+    <param name="odom_alpha2"               value="1.0"/>    
     <!-- <param name="odom_alpha3"               value="0.1"/>  -->
-    <param name="odom_alpha3"               value="0.8"/> 
+    <param name="odom_alpha3"               value="3.0"/> 
     <!-- <param name="odom_alpha4"               value="0.1"/> -->
-    <param name="odom_alpha4"               value="0.2"/>
+    <param name="odom_alpha4"               value="1.0"/>
     <param name="odom_frame_id"             value="odom"/> 
     <param name="base_frame_id"             value="base_link"/> 
    <!--