Gmapping not accurate enough

edit

HI EVERYONE,

my gmapping often miss localises and is not accurate enough is there anything clearly wrong with the gmapping parameters below:

<launch>

  <arg name="scan_topic" default="scan" />

  <node pkg="gmapping" type="slam_gmapping" name="slam_gmapping">
    <rosparam>
      odom_frame: odom
      base_frame: base_link
      map_frame: map
</rosparam>
      <param name="transform_publish_period" value="0.02"/>
      <param name="map_update_interval" value="0.5"/>

    <param name="minimumScore" value="100"/> <!--by default 0, read 100 works good,seen ppl use 10000-->

      <param name="maxUrange" value="10.0"/>

      <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="srr" value="0.01"/>   <!--odometry trust-->

      <param name="srt" value="0.02"/>

      <param name="str" value="0.01"/>

      <param name="stt" value="0.02"/>   <!--up till here-->

      <param name="linearUpdate" value="0.001"/>

      <param name="angularUpdate" value="0.002"/>

      <param name="temporalUpdate" value="0.0002"/><!--think it was undating too slow 2.0 before now must try this-->

      <param name="resampleThreshold" value="0.5"/>

      <param name="particles" value="100"/>

      <param name="xmin" value="-10.0"/>

      <param name="ymin" value="-10.0"/>

      <param name="xmax" value="10.0"/>

      <param name="ymax" value="10.0"/>

      <param name="delta" value="0.03"/><!-- afjusted -->

      <param name="llsamplerange" value="0.15"/>

      <param name="llsamplestep" value="0.25"/>

      <param name="lasamplerange" value="0.55"/>

      <param name="lasamplestep" value="0.55"/>


    <remap from="scan" to="$(arg scan_topic)"/>
  </node>
</launch>