<!-- 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. -->
<!-- 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. -->