<!-- 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. -->
<!-- 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. -->