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41 lines
1.8 KiB
41 lines
1.8 KiB
2 months ago
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<launch>
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<arg name="frame_prefix" default=""/>
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<node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen">
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<param name="base_frame" value="$(arg frame_prefix)base_footprint" />
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<param name="odom_frame" value="$(arg frame_prefix)odom" />
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<param name="map_frame" value="/$(arg frame_prefix)map" />
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<param name="map_update_interval" value="15.0"/>
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<param name="maxUrange" value="5.0"/>
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<param name="minRange" value="-0.5"/>
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<param name="sigma" value="0.05"/>
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<param name="kernelSize" value="1"/>
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<param name="lstep" value="0.05"/>
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<param name="astep" value="0.05"/>
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<param name="iterations" value="5"/>
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<param name="lsigma" value="0.075"/>
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<param name="ogain" value="3.0"/>
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<param name="lskip" value="0"/>
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<param name="minimumScore" value="100"/>
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<param name="srr" value="0.01"/>
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<param name="srt" value="0.02"/>
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<param name="str" value="0.01"/>
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<param name="stt" value="0.02"/>
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<param name="linearUpdate" value="0.7"/>
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<param name="angularUpdate" value="0.7"/>
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<param name="temporalUpdate" value="-0.5"/>
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<param name="resampleThreshold" value="0.5"/>
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<param name="particles" value="50"/>
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<param name="xmin" value="-50.0"/>
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<param name="ymin" value="-50.0"/>
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<param name="xmax" value="50.0"/>
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<param name="ymax" value="50.0"/>
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<param name="delta" value="0.05"/>
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<param name="llsamplerange" value="0.05"/>
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<param name="llsamplestep" value="0.05"/>
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<param name="lasamplerange" value="0.005"/>
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<param name="lasamplestep" value="0.005"/>
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<param name="transform_publish_period" value="0.1"/>
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</node>
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</launch>
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