CMakeLists: Require OpenCV

[ros_wild_thumper.git] / launch / gmapping.launch

diff --git a/launch/gmapping.launch b/launch/gmapping.launch
index 03ce7986fdac93280098c51075d6a241c26ca635..a8a75d41eb657d7de3dd484b18f54ebac0451252 100644 (file)
--- a/launch/gmapping.launch
+++ b/launch/gmapping.launch
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <launch>
        <arg name="use_sim_time" default="false" />
-       <param name="/use_sim_time" value="$(arg use_sim_time)"/>
+       <param name="/use_sim_time" value="$(arg use_sim_time)" if="$(arg use_sim_time)"/>
 
        <node pkg="gmapping" type="slam_gmapping" name="slam_gmapping">
                <param name="scan" value="scan" />
@@ -17,13 +17,13 @@
                <!-- 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="10"/>
                <!-- 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) -->
@@ -32,5 +32,9 @@
                <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>