amcl tuning

diff --git a/launch/move_base.launch b/launch/move_base.launch
index 592cd42542a3db74b3bc4cd1e02d74451ef0fd7f..f2fd7330fcbd6d14dc28ab36f0f5cc832fbf315e 100644 (file)
--- a/launch/move_base.launch
+++ b/launch/move_base.launch
@@ -13,22 +13,23 @@
                <include file="$(find amcl)/examples/amcl_diff.launch" unless="$(arg slam_gmapping)" />
                <group ns="amcl">
                        <param name="base_frame_id" value="base_footprint" />
-                       <param name="laser_max_range" value="3.5" />
                        <param name="odom_model_type" value="diff-corrected" />
                        <!-- Specifies the expected noise in odometry's rotation estimate from the rotational component of the robot's motion. -->
-                       <param name="odom_alpha1" value="0.0" />
+                       <param name="odom_alpha1" value="0.00001" />
                        <!-- Specifies the expected noise in odometry's rotation estimate from translational component of the robot's motion. -->
-                       <param name="odom_alpha2" value="0.0" />
+                       <param name="odom_alpha2" value="0.00001" />
                        <!-- Specifies the expected noise in odometry's translation estimate from the translational component of the robot's motion. -->
                        <param name="odom_alpha3" value="0.01" />
                        <!-- Specifies the expected noise in odometry's translation estimate from the rotational component of the robot's motion. -->
                        <param name="odom_alpha4" value="0.03" />
                        <!-- How many evenly-spaced beams in each scan to be used when updating the filter. -->
-                       <param name="laser_max_beams" value="60" />
+                       <param name="laser_max_beams" value="50" />
                        <!-- Exponential decay rate for the slow average weight filter, used in deciding when to recover by adding random poses. -->
-                       <param name="recovery_alpha_slow" value="0.001" />
+                       <param name="recovery_alpha_slow" value="0.01" />
                        <!-- Exponential decay rate for the fast average weight filter, used in deciding when to recover by adding random poses. -->
-                       <param name="recovery_alpha_fast" value="0.1" />
+                       <param name="recovery_alpha_fast" value="0.2" />
+                       <!-- Minimum allowed number of particles. -->
+                       <param name="min_particles" value="100" />
                </group>
        </group>