move_base/amcl: Increment rotational noise
authorErik Andresen <erik@vontaene.de>
Sun, 22 Oct 2017 06:26:59 +0000 (08:26 +0200)
committerErik Andresen <erik@vontaene.de>
Sun, 22 Oct 2017 06:26:59 +0000 (08:26 +0200)
launch/move_base.launch

index c68413a..5586989 100644 (file)
@@ -16,9 +16,9 @@
                        <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" />
+                       <param name="odom_alpha1" value="0.001" />
                        <!-- Specifies the expected noise in odometry's rotation estimate from translational component of the robot's motion. -->
-                       <param name="odom_alpha2" value="0.00001" />
+                       <param name="odom_alpha2" value="0.001" />
                        <!-- Specifies the expected noise in odometry's translation estimate from the translational component of the robot's motion. -->
                        <param name="odom_alpha3" value="0.04" />
                        <!-- Specifies the expected noise in odometry's translation estimate from the rotational component of the robot's motion. -->