39 lines
831 B
YAML
39 lines
831 B
YAML
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use_map_topic: true
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odom_frame_id: "odom"
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base_frame_id: "base_footprint"
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global_frame_id: "map"
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## Publish scans from best pose at a max of 10 Hz
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odom_model_type: "diff"
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odom_alpha5: 0.1
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gui_publish_rate: 10.0
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laser_max_beams: 60
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laser_max_range: 12.0
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min_particles: 500
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max_particles: 2000
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kld_err: 0.05
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kld_z: 0.99
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odom_alpha1: 0.2
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odom_alpha2: 0.2
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## translation std dev, m
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odom_alpha3: 0.2
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odom_alpha4: 0.2
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laser_z_hit: 0.5
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aser_z_short: 0.05
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laser_z_max: 0.05
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laser_z_rand: 0.5
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laser_sigma_hit: 0.2
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laser_lambda_short: 0.1
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laser_model_type: "likelihood_field" # "likelihood_field" or "beam"
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laser_likelihood_max_dist: 2.0
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update_min_d: 0.25
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update_min_a: 0.2
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resample_interval: 1
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## Increase tolerance because the computer can get quite busy
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transform_tolerance: 1.0
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recovery_alpha_slow: 0.001
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recovery_alpha_fast: 0.1
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