# Revision history [back]

finaly. i found it. just add <param name="minimumScore" value="260"/> parameter to slam_gmapping node. Because my laser range is 5m. I found this at the gmapping information section:

~minimumScore (float, default: 0.0) Minimum score for considering the outcome of the scan matching good. Can avoid jumping pose estimates in large open spaces when using laser scanners with limited range (e.g. 5m). Scores go up to 600+, try 50 for example when experiencing jumping estimate issues.

Thanks to @Delb and @duck-development