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@@ -4,6 +4,7 @@
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Author: corvin
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History:
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20200326: init this file.
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+ 20200804:将odom_mode_type改为omni-corrected,对应odom_alpha参数也更新.
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-->
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<launch>
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<!-- Run the map server with a map -->
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@@ -17,7 +18,7 @@
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<!-- Run amcl node -->
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<node pkg="amcl" type="amcl" name="robot_amcl">
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- <param name="odom_model_type" value="omni"/>
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+ <param name="odom_model_type" value="omni-corrected"/>
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<param name="base_frame_id" value="base_footprint"/>
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<param name="global_frame_id" value="map"/>
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@@ -32,11 +33,11 @@
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<param name="max_particles" value="5000"/>
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<param name="kld_err" value="0.1"/>
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<param name="kld_z" value="0.99"/>
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- <param name="odom_alpha1" value="0.2"/>
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- <param name="odom_alpha2" value="0.2"/>
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- <param name="odom_alpha3" value="0.2"/>
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- <param name="odom_alpha4" value="0.2"/>
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- <param name="odom_alpha5" value="0.2"/>
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+ <param name="odom_alpha1" value="0.005"/>
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+ <param name="odom_alpha2" value="0.005"/>
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+ <param name="odom_alpha3" value="0.010"/>
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+ <param name="odom_alpha4" value="0.005"/>
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+ <param name="odom_alpha5" value="0.003"/>
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<param name="laser_z_hit" value="0.9"/>
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<param name="laser_z_short" value="0.05"/>
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