no duplicate options in global_costmap_params_odom.yaml

[ros_wild_thumper.git] / launch / move_base.launch

diff --git a/launch/move_base.launch b/launch/move_base.launch
index 592cd42542a3db74b3bc4cd1e02d74451ef0fd7f..c1320cb074dc75a9660c32d8d46420e08003fd2a 100644 (file)
--- a/launch/move_base.launch
+++ b/launch/move_base.launch
@@ -13,22 +13,23 @@
                <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="laser_max_range" value="3.5" />
                        <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="0.0" />
+                       <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="0.0" />
+                       <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="60" />
+                       <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>
 
@@ -39,7 +40,7 @@
                <param name="controller_frequency" value="10.0" />
                <rosparam file="$(find wild_thumper)/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
                <rosparam file="$(find wild_thumper)/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
-               <rosparam file="$(find wild_thumper)/config/global_costmap_params.yaml" command="load" unless="$(arg nomap)" />
+               <rosparam file="$(find wild_thumper)/config/global_costmap_params.yaml" command="load" />
                <rosparam file="$(find wild_thumper)/config/global_costmap_params_odom.yaml" command="load" if="$(arg nomap)" />
                <rosparam file="$(find wild_thumper)/config/local_costmap_params.yaml" command="load" />
                <rosparam file="$(find wild_thumper)/config/base_local_planner_params.yaml" command="load" />