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23 lines
583 B
23 lines
583 B
amcl:
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ros__parameters:
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base_frame_id: "base_link"
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global_frame_id: "map"
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set_initial_pose: false
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laser_likelihood_max_dist: 2.0
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laser_max_range: -1.0
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laser_min_range: -1.0
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laser_model_type: "likelihood_field"
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max_beams: 60
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max_particles: 2000
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min_particles: 500
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odom_frame_id: "odom"
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resample_interval: 2
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robot_model_type: "differential"
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save_pose_rate: 0.5
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tf_broadcast: true
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transform_tolerance: 1.0
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update_min_a: 0.2
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update_min_d: 0.25
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use_map_topic: true
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scan_topic: "/scan"
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map_topic: "/map"
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