mirror of
https://github.com/bjoernellens1/cps_rmp220_support.git
synced 2025-02-22 14:06:47 +00:00
75 lines
3.7 KiB
XML
75 lines
3.7 KiB
XML
<?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"> -->
|
|
<node pkg="amcl" type="amcl" name="amcl" output="screen">
|
|
<param name="min_particles" value="500"/>
|
|
<!-- <param name="max_particles" value="3000"/> -->
|
|
<param name="max_particles" value="5000"/>
|
|
<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="update_min_a" value="0.50"/>
|
|
<param name="resample_interval" value="1"/>
|
|
<!-- <param name="transform_tolerance" value="0.5"/> -->
|
|
<param name="transform_tolerance" value="0.1"/>
|
|
<!-- <param name="recovery_alpha_slow" value="0.00"/> -->
|
|
<param name="recovery_alpha_slow" value="0.001"/>
|
|
<!-- <param name="recovery_alpha_fast" value="0.00"/> -->
|
|
<param name="recovery_alpha_fast" value="0.01"/>
|
|
<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="$(arg initial_pose_a)"/>
|
|
<!-- <param name="gui_publish_rate" value="50.0"/> -->
|
|
<param name="gui_publish_rate" value="20.0"/>
|
|
|
|
<remap from="scan" to="$(arg scan_topic)"/>
|
|
<!-- <param name="laser_max_range" value="16.0"/> -->
|
|
<param name="laser_max_range" value="12.0"/>
|
|
<!-- <param name="laser_max_beams" value="180"/> -->
|
|
<param name="laser_max_beams" value="60"/>
|
|
<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"/>
|
|
|
|
<!-- 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="1.0"/>
|
|
<!-- <param name="odom_alpha2" value="0.1"/> -->
|
|
<param name="odom_alpha2" value="1.0"/>
|
|
<!-- <param name="odom_alpha3" value="0.1"/> -->
|
|
<param name="odom_alpha3" value="3.0"/>
|
|
<!-- <param name="odom_alpha4" value="0.1"/> -->
|
|
<param name="odom_alpha4" value="1.0"/>
|
|
<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" /> -->
|
|
<param name="tf_broadcast" value="true" />
|
|
|
|
<!-- 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>
|
|
</launch>
|