From b6c2b16643b132e613dada8516641cd0086c81df Mon Sep 17 00:00:00 2001
From: Erik Andresen <erik@vontaene.de>
Date: Sat, 4 Feb 2017 13:13:25 +0100
Subject: [PATCH] amcl tuning

---
 launch/move_base.launch | 20 +++++++++++++++++++-
 1 file changed, 19 insertions(+), 1 deletion(-)

diff --git a/launch/move_base.launch b/launch/move_base.launch
index 88705b9..592cd42 100644
--- a/launch/move_base.launch
+++ b/launch/move_base.launch
@@ -11,7 +11,25 @@
 		<node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" output="screen" unless="$(arg slam_gmapping)" />
 
 		<include file="$(find amcl)/examples/amcl_diff.launch" unless="$(arg slam_gmapping)" />
-		<param name="amcl/base_frame_id" value="base_footprint" />
+		<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" />
+			<!-- Specifies the expected noise in odometry's rotation estimate from translational component of the robot's motion. -->
+			<param name="odom_alpha2" value="0.0" />
+			<!-- 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" />
+			<!-- 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" />
+			<!-- 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" />
+		</group>
 	</group>
 
 	<include file="$(find wild_thumper)/launch/gmapping.launch" if="$(arg slam_gmapping)" />
-- 
2.39.5