Revision history [back]

I use laptop and kinect. robo_slam.launch file is the following.

<launch>
<node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen">
    <param name="map_update_interval" value="2.0"/>
    <param name="maxUrange" value="6.0"/>
    <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"/>
    <param name="srt" value="0.02"/>
    <param name="str" value="0.01"/>
    <param name="stt" value="0.02"/>
    <param name="linearUpdate" value="0.25"/>     <!-- param name="linearUpdate" value="0.5"/-->
    <param name="angularUpdate" value="0.262"/>   <!--param name="angularUpdate" value="0.436"/-->
    <param name="temporalUpdate" value="-1.0"/>
    <param name="resampleThreshold" value="0.5"/>
    <param name="particles" value="300"/>
    <param name="xmin" value="-15.0"/>
    <param name="ymin" value="-15.0"/>
    <param name="xmax" value="15.0"/>
    <param name="ymax" value="15.0"/>
    <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"/>
    <param name="frame_id" value="scan"/>
</node>

</launch>