X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=launch%2Fgmapping.launch;h=a8a75d41eb657d7de3dd484b18f54ebac0451252;hp=03ce7986fdac93280098c51075d6a241c26ca635;hb=2f194b3fe82009a77b79021f0c57e6ca55c1706f;hpb=670ead7985c1c4df661d9e95e20a0b805c0347f8

diff --git a/launch/gmapping.launch b/launch/gmapping.launch
index 03ce798..a8a75d4 100644
--- a/launch/gmapping.launch
+++ b/launch/gmapping.launch
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <launch>
 	<arg name="use_sim_time" default="false" />
-	<param name="/use_sim_time" value="$(arg use_sim_time)"/>
+	<param name="/use_sim_time" value="$(arg use_sim_time)" if="$(arg use_sim_time)"/>
 
 	<node pkg="gmapping" type="slam_gmapping" name="slam_gmapping">
 		<param name="scan" value="scan" />
@@ -17,13 +17,13 @@
 		<!-- 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"/>
+		<param name="minimumScore" value="10"/>
 		<!-- 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"/>
+		<param name="particles" value="70"/>
 		<!-- 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) -->
@@ -32,5 +32,9 @@
 		<param name="str" value="0.0"/>
 		<!-- Odometry error in rotation as a function of rotation (theta/theta) -->
 		<param name="stt" value="0.0"/>
+		<!-- The number of iterations of the scanmatcher, default: 5 -->
+		<param name="iterations" value="7"/>
+		<!-- The sigma of a beam used for likelihood computation, default: 0.075 -->
+		<param name="lsigma" value="0.085"/>
 	</node>
 </launch>