ros_minibot_ws/src/robot_navigation/launch/amcl_rplidar_a1.launch

<launch>
  <!-- Run the map server with a map -->
  <node name="map_server" pkg="map_server" type="map_server" args="$(find robot_navigation)/maps/my_room.yaml" />

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

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

  <!-- Run amcl -->
  <node pkg="amcl" type="amcl" name="robot_amcl">
    <param name="odom_model_type" value="omni"/>

    <param name="base_frame_id" value="base_footprint"/>
    <param name="global_frame_id" value="map"/>
    <param name="odom_frame_id" value="odom_combined"/>

    <param name="use_map_topic" value="true"/>
    <param name="odom_alpha5" value="0.1"/>
    <param name="transform_tolerance" value="0.5" />
    <param name="gui_publish_rate" value="1.0"/>
    <param name="laser_max_beams" value="300"/>
    <param name="min_particles" value="500"/>
    <param name="max_particles" value="5000"/>
    <param name="kld_err" value="0.1"/>
    <param name="kld_z" value="0.99"/>
    <param name="odom_alpha1" value="0.2"/>
    <param name="odom_alpha2" value="0.2"/>
    <param name="odom_alpha3" value="0.2"/>
    <param name="odom_alpha4" value="0.2"/>
    <param name="odom_alpha5" value="0.2"/>

    <param name="laser_z_hit" value="0.9"/>
    <param name="laser_z_short" value="0.05"/>
    <param name="laser_z_max" value="0.05"/>
    <param name="laser_z_rand" value="0.05"/>
    <param name="laser_sigma_hit" value="0.2"/>
    <param name="laser_lambda_short" value="0.1"/>
    <param name="laser_model_type" value="likelihood_field"/>
    <param name="laser_model_type" value="beam"/>
    <param name="laser_min_range" value="0.14"/>
    <param name="laser_max_range" value="7.0"/>
    <param name="laser_likelihood_max_dist" value="2.0"/>
    <param name="update_min_d" value="0.2"/>
    <param name="update_min_a" value="0.5"/>
    <param name="resample_interval" value="2"/>
    <param name="transform_tolerance" value="3.0"/>
    <param name="recovery_alpha_slow" value="0.0"/>
    <param name="recovery_alpha_fast" value="0.0"/>
  </node>
</launch>