omniWheelCareRobot/rosCode/src/carebot_navigation/launch/gmapping_rplidar_a2.launch

<launch>  
  <param name="use_sim_time" value="false"/>  

  <!-- startup rplidar node -->
  <include file="$(find rplidar_ros)/launch/rplidar.launch" />

  <!-- startup move_base node -->
  <include file="$(find carebot_navigation)/launch/move_base.launch" />

  <node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen">  
    <param name="map_update_interval" value="5.0"/>  
    <param name="maxUrange" value="7.5"/>  
    <param name="sigma" value="0.05"/>  
    <param name="kernelSize" value="1"/>  
    <param name="lstep" value="0.05"/>  
    <param name="astep" value="0.05"/>  
    <param name="iterations" value="5"/>  
    <param name="lsigma" value="0.075"/>  
    <param name="ogain" value="3.0"/>  
    <param name="lskip" value="0"/>  
    <param name="minimumScore" value="50"/>  
    <param name="srr" value="0.1"/>  
    <param name="srt" value="0.2"/>  
    <param name="str" value="0.1"/>  
    <param name="stt" value="0.2"/>  
    <param name="linearUpdate" value="1.0"/>  
    <param name="angularUpdate" value="0.5"/>  
    <param name="temporalUpdate" value="3.0"/>  
    <param name="resampleThreshold" value="0.5"/>  
    <param name="particles" value="30"/>  
    <param name="xmin" value="-5.0"/>  
    <param name="ymin" value="-5.0"/>  
    <param name="xmax" value="5.0"/>  
    <param name="ymax" value="5.0"/>  
    <param name="delta" value="0.05"/>  
    <param name="llsamplerange" value="0.01"/>  
    <param name="llsamplestep" value="0.01"/>  
    <param name="lasamplerange" value="0.005"/>  
    <param name="lasamplestep" value="0.005"/>  
  </node>  

</launch>