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26 lines
790 B
26 lines
790 B
<launch>
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<!-- laser_scan_matcher -->
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<node pkg="laser_scan_matcher" type="laser_scan_matcher_node" name="laser_scan_matcher_node" output="screen">
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<remap from="odom" to="odometry/filtered"/>
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<param name="max_iterations" value="10"/>
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<!--<param name="fixed_frame" value="map"/>-->
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<param name="fixed_frame" value="odom"/>
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<!-- "Maximum angular displacement between scans, in degrees" -->
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<!--<param name="max_angular_correction_deg" value="45.0"/>-->
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<param name="max_angular_correction_deg" value="20.0"/>
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<!-- "Maximum translation between scans (m)-->
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<!--<param name="max_linear_correction" value="0.5"/>-->
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<param name="max_linear_correction" value="0.2"/>
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<param name="use_imu" value="false"/>
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</node>
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<!-- -->
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</launch>
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