- <node pkg="gmapping" type="slam_gmapping" name="slap_gmapping" output="screen" if="$(arg slam_gmapping)">
- <param name="scan" value="scan" />
- <param name="delta" value="0.01" />
- <param name="map_update_interval" value="30" />
- <param name="linearUpdate" value="0.5" />
- <param name="angularUpdate" value="0.25" />
- <param name="xmin" value="-1.0"/>
- <param name="ymin" value="-1.0"/>
- <param name="xmax" value="1.0"/>
- <param name="ymax" value="1.0"/>
- <param name="odom_frame" value="odom"/>
- </node>
+ <include file="$(find amcl)/examples/amcl_diff.launch" unless="$(arg slam_gmapping)" />
+ <group ns="amcl">
+ <param name="base_frame_id" value="base_footprint" />
+ <param name="odom_model_type" value="diff-corrected" />
+ <!-- Specifies the expected noise in odometry's rotation estimate from the rotational component of the robot's motion. -->
+ <param name="odom_alpha1" value="0.00001" />
+ <!-- Specifies the expected noise in odometry's rotation estimate from translational component of the robot's motion. -->
+ <param name="odom_alpha2" value="0.00001" />
+ <!-- Specifies the expected noise in odometry's translation estimate from the translational component of the robot's motion. -->
+ <param name="odom_alpha3" value="0.01" />
+ <!-- Specifies the expected noise in odometry's translation estimate from the rotational component of the robot's motion. -->
+ <param name="odom_alpha4" value="0.03" />
+ <!-- How many evenly-spaced beams in each scan to be used when updating the filter. -->
+ <param name="laser_max_beams" value="50" />
+ <!-- Exponential decay rate for the slow average weight filter, used in deciding when to recover by adding random poses. -->
+ <param name="recovery_alpha_slow" value="0.001" />
+ <!-- Exponential decay rate for the fast average weight filter, used in deciding when to recover by adding random poses. -->
+ <param name="recovery_alpha_fast" value="0.1" />
+ <!-- Minimum allowed number of particles. -->
+ <param name="min_particles" value="100" />
+ </group>
+ </group>
+
+ <include file="$(find wild_thumper)/launch/gmapping.launch" if="$(arg slam_gmapping)" />