+ <group ns="amcl">
+ <param name="base_frame_id" value="base_footprint" />
+ <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="0.001" />
+ <!-- Specifies the expected noise in odometry's rotation estimate from translational component of the robot's motion. -->
+ <param name="odom_alpha2" value="0.001" />
+ <!-- Specifies the expected noise in odometry's translation estimate from the translational component of the robot's motion. -->
+ <param name="odom_alpha3" value="0.04" />
+ <!-- Specifies the expected noise in odometry's translation estimate from the rotational component of the robot's motion. -->
+ <param name="odom_alpha4" value="0.001" />
+ <!-- How many evenly-spaced beams in each scan to be used when updating the filter. -->
+ <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" />
+ <!-- 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" />
+ <!-- Minimum allowed number of particles. -->
+ <param name="min_particles" value="100" />
+ </group>