<!-- The maximum range of the sensor. If regions with no obstacles within the range of the sensor should appear as free -->
<param name="maxRange" value="10.0"/>
<!-- Minimum score for considering the outcome of the scan matching good. Can avoid jumping pose, default: 0.0, max: 600+ -->
- <param name="minimumScore" value="0"/>
+ <param name="minimumScore" value="40"/>
<!-- Process a scan each time the robot translates this far -->
<param name="linearUpdate" value="0.30"/>
<!-- Process a scan each time the robot rotates this far -->
<param name="angularUpdate" value="0.436"/> <!-- 25 deg -->
<!-- Number of particles in the filter, default: 30 -->
- <param name="particles" value="65"/>
+ <param name="particles" value="70"/>
<!-- Odometry error in translation as a function of translation (rho/rho) -->
<param name="srr" value="0.01"/>
<!-- Odometry error in translation as a function of rotation (rho/theta) -->
<param name="str" value="0.0"/>
<!-- Odometry error in rotation as a function of rotation (theta/theta) -->
<param name="stt" value="0.0"/>
+ <!-- The number of iterations of the scanmatcher, default: 5 -->
+ <param name="iterations" value="7"/>
+ <!-- The sigma of a beam used for likelihood computation, default: 0.075 -->
+ <param name="lsigma" value="0.085"/>
</node>
</launch>