X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=launch%2Fgmapping.launch;fp=launch%2Fgmapping.launch;h=03ce7986fdac93280098c51075d6a241c26ca635;hp=0000000000000000000000000000000000000000;hb=670ead7985c1c4df661d9e95e20a0b805c0347f8;hpb=dad024ae410398fbf60b75619545e9ee4ab9dad3

diff --git a/launch/gmapping.launch b/launch/gmapping.launch
new file mode 100644
index 0000000..03ce798
--- /dev/null
+++ b/launch/gmapping.launch
@@ -0,0 +1,36 @@
+<?xml version="1.0"?>
+<launch>
+	<arg name="use_sim_time" default="false" />
+	<param name="/use_sim_time" value="$(arg use_sim_time)"/>
+
+	<node pkg="gmapping" type="slam_gmapping" name="slam_gmapping">
+		<param name="scan" value="scan" />
+		<param name="delta" value="0.01" />
+		<param name="map_update_interval" value="10.0" />
+		<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"/>
+		<!-- The maximum usable range of the laser. A beam is cropped to this value. -->
+		<param name="maxUrange" value="3.5"/>
+		<!-- The maximum range of the sensor. If regions with no obstacles within the range of the sensor should appear as free -->
+		<param name="maxRange" value="10.0"/>
+		<!-- Minimum score for considering the outcome of the scan matching good. Can avoid jumping pose, default: 0.0, max: 600+ -->
+		<param name="minimumScore" value="0"/>
+		<!-- Process a scan each time the robot translates this far -->
+		<param name="linearUpdate" value="0.30"/>
+		<!-- Process a scan each time the robot rotates this far -->
+		<param name="angularUpdate" value="0.436"/> <!-- 25 deg -->
+		<!-- Number of particles in the filter, default: 30 -->
+		<param name="particles" value="65"/>
+		<!-- Odometry error in translation as a function of translation (rho/rho) -->
+		<param name="srr" value="0.01"/>
+		<!-- Odometry error in translation as a function of rotation (rho/theta) -->
+		<param name="srt" value="0.03"/>
+		<!-- Odometry error in rotation as a function of translation (theta/rho) -->
+		<param name="str" value="0.0"/>
+		<!-- Odometry error in rotation as a function of rotation (theta/theta) -->
+		<param name="stt" value="0.0"/>
+	</node>
+</launch>