3 <arg name="use_sim_time" default="false" />
4 <param name="/use_sim_time" value="$(arg use_sim_time)" if="$(arg use_sim_time)"/>
6 <node pkg="gmapping" type="slam_gmapping" name="slam_gmapping">
7 <param name="scan" value="scan" />
8 <param name="delta" value="0.01" />
9 <param name="map_update_interval" value="10.0" />
10 <param name="xmin" value="-5.0"/>
11 <param name="ymin" value="-5.0"/>
12 <param name="xmax" value="5.0"/>
13 <param name="ymax" value="5.0"/>
14 <param name="odom_frame" value="odom"/>
15 <!-- The maximum usable range of the laser. A beam is cropped to this value. -->
16 <param name="maxUrange" value="3.5"/>
17 <!-- The maximum range of the sensor. If regions with no obstacles within the range of the sensor should appear as free -->
18 <param name="maxRange" value="10.0"/>
19 <!-- Minimum score for considering the outcome of the scan matching good. Can avoid jumping pose, default: 0.0, max: 600+ -->
20 <param name="minimumScore" value="10"/>
21 <!-- Process a scan each time the robot translates this far -->
22 <param name="linearUpdate" value="0.30"/>
23 <!-- Process a scan each time the robot rotates this far -->
24 <param name="angularUpdate" value="0.436"/> <!-- 25 deg -->
25 <!-- Number of particles in the filter, default: 30 -->
26 <param name="particles" value="70"/>
27 <!-- Odometry error in translation as a function of translation (rho/rho) -->
28 <param name="srr" value="0.01"/>
29 <!-- Odometry error in translation as a function of rotation (rho/theta) -->
30 <param name="srt" value="0.03"/>
31 <!-- Odometry error in rotation as a function of translation (theta/rho) -->
32 <param name="str" value="0.0"/>
33 <!-- Odometry error in rotation as a function of rotation (theta/theta) -->
34 <param name="stt" value="0.0"/>
35 <!-- The number of iterations of the scanmatcher, default: 5 -->
36 <param name="iterations" value="7"/>
37 <!-- The sigma of a beam used for likelihood computation, default: 0.075 -->
38 <param name="lsigma" value="0.085"/>