ellensohn/cps_rmp220_support
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Your Name 2025-01-20 12:16:10 +01:00
parent 92eeff6e2a
commit a68304c8fd
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launch/move_base_core.launch
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@ -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 -->