From a68304c8fd2fa97d6f75ad40b1bb4e68541299bd Mon Sep 17 00:00:00 2001
From: Your Name <you@example.com>
Date: Mon, 20 Jan 2025 12:16:10 +0100
Subject: [PATCH] update

---
 launch/move_base_core.launch | 45 ------------------------------------
 1 file changed, 45 deletions(-)

diff --git a/launch/move_base_core.launch b/launch/move_base_core.launch
index f38ab21..19ba131 100644
--- a/launch/move_base_core.launch
+++ b/launch/move_base_core.launch
@@ -22,51 +22,6 @@
     <remap from="odom" to="/robot_pose_ekf/odom_combined"/>
   </node>
 
-  <!-- AMCL -->
-  <!-- <node pkg="amcl" type="amcl" name="amcl" clear_params="true">
-    <param name="use_map_topic" value="false"/>
-    <!-- Publish scans from best pose at a max of 10 Hz -->
-    <param name="odom_model_type" value="diff"/>
-    <param name="odom_alpha5" value="0.1"/>
-    <param name="gui_publish_rate" value="10.0"/>
-    <param name="laser_max_beams" value="60"/>
-    <param name="laser_max_range" value="12.0"/>
-    <param name="min_particles" value="500"/>
-    <param name="max_particles" value="2000"/>
-    <param name="kld_err" value="0.05"/>
-    <param name="kld_z" value="0.99"/>
-    <param name="odom_alpha1" value="0.2"/>
-    <param name="odom_alpha2" value="0.2"/>
-    <!-- translation std dev, m -->
-    <param name="odom_alpha3" value="0.2"/>
-    <param name="odom_alpha4" value="0.2"/>
-    <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_model_type" value="likelihood_field"/>
-    <!-- <param name="laser_model_type" value="beam"/> -->
-    <param name="laser_likelihood_max_dist" value="2.0"/>
-    <param name="update_min_d" value="0.25"/>
-    <param name="update_min_a" value="0.2"/>
-
-    <param name="odom_frame_id" value="odom"/>
-
-    <param name="resample_interval" value="1"/>
-    <!-- Increase tolerance because the computer can get quite busy -->
-    <param name="transform_tolerance" value="1.0"/>
-    <param name="recovery_alpha_slow" value="0.0"/>
-    <param name="recovery_alpha_fast" value="0.0"/>
-    <!-- scan topic -->
-    <remap from="scan" to="scan_filtered"/>
-    <!-- remap cmd_vel -->
-    <remap from="cmd_vel" to="nav_vel"/>
-    <!-- remap odom -->
-    <remap from="odom" to="/robot_pose_ekf/odom_combined"/>
-  </node> -->
-
   <!-- TF -->
   <!-- <node pkg="tf" type="static_transform_publisher" name="base_to_laser" args="0.10 0.0 0.12 3.14 0.0 0.0 base_link laser 100"/>
   static_transform_publisher x y z yaw pitch roll frame_id child_frame_id period_in_ms -->