X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=launch%2Fmove_base.launch;h=c1320cb074dc75a9660c32d8d46420e08003fd2a;hp=88705b986a889311881e490c8ca7496b26754f96;hb=dfa22bff12a5c6e0685b3e79e681ccc1d0bd1fa1;hpb=670ead7985c1c4df661d9e95e20a0b805c0347f8

diff --git a/launch/move_base.launch b/launch/move_base.launch
index 88705b9..c1320cb 100644
--- a/launch/move_base.launch
+++ b/launch/move_base.launch
@@ -11,7 +11,26 @@
 		<node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" output="screen" unless="$(arg slam_gmapping)" />
 
 		<include file="$(find amcl)/examples/amcl_diff.launch" unless="$(arg slam_gmapping)" />
-		<param name="amcl/base_frame_id" value="base_footprint" />
+		<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)" />
@@ -21,7 +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" />