feat: Adjust amcl parameters

AnastaciaVolkova · Apr 12, 2020 · 8aa9052 · 8aa9052
1 parent c8b54d2
commit 8aa9052
Showing 1 changed file with 15 additions and 2 deletions.
diff --git a/my_robot/launch/amcl.launch b/my_robot/launch/amcl.launch
@@ -8,11 +8,23 @@
     <param name="odom_model_type" value="diff-corrected"/>
     <param name="base_frame_id" value="robot_footprint"/>
     <param name="global_frame_id" value="map"/>
+    <param name="min_particles" value="500"/>
+    <param name="max_particles" value="1000"/>
+
+
+    <param name="update_min_d" value="0.1"/>
+    <param name="update_min_a" value="0.1"/>
+
+    <param name="odom_alpha1" value="0.005"/>
+    <param name="odom_alpha2" value="0.005"/>
+    <param name="odom_alpha3" value="0.005"/>
+    <param name="odom_alpha4" value="0.005"/>
+    <param name="initial_pose_x" value="0"/>
+    <param name="initial_pose_y" value="0"/>
 </node>
 
-<param name="initial_pose_x" value="0"/>
-<param name="initial_pose_y" value="0"/>
 
+<!--
 <node name="move_base" pkg="move_base" type="move_base" respawn="false" output="screen">
     <remap from="scan" to="my_robot/laser/scan"/>
     <param name="base_global_planner" value="navfn/NavfnROS" />
@@ -23,5 +35,6 @@
     <rosparam file="$(find my_robot)/config/global_costmap_params.yaml" command="load" />
     <rosparam file="$(find my_robot)/config/base_local_planner_params.yaml" command="load" />
 </node>
+-->
 
 </launch>