- <node pkg="gmapping" type="slam_gmapping" name="slap_gmapping" output="screen" if="$(arg slam_gmapping)">
- <param name="scan" value="scan" />
- <param name="delta" value="0.01" />
- <param name="map_update_interval" value="30" />
- <param name="linearUpdate" value="0.5" />
- <param name="angularUpdate" value="0.25" />
- <param name="xmin" value="-5.0"/>
- <param name="ymin" value="-5.0"/>
- <param name="xmax" value="5.0"/>
- <param name="ymax" value="5.0"/>
- <param name="odom_frame" value="odom"/>
- </node>