gmapping slam paramerter

asked 2015-04-17 06:12:18 -0500

ozo gravatar image

I have a problem that after taking data from laser sensor indoors with fake odometry I set the odometry point moves as the robot moves I am working with the default parameters is there a way to fix the odometry point. Thanks in advance.


<param name="use_sim_time" value="true"/>
<node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen">
    <remap from="scan" to="/scan"/>
    <param name="maxUrange" value="80"/>        
    <param name="xmin" value="-100.0"/>
    <param name="Ymin" value="-100.0"/>
    <param name="xmax" value="100.0"/>
    <param name="ymax" value="100.0"/>
    <param name="throttle_scans" value="1"/>
    <param name="base_frame" value="base_link"/>
    <param name="map_frame" value="map"/>   
    <param name="odom_frame" value="odom"/>
    <param name="map_update_interval" value="5"/>
    <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"/> 
    <param name="lskip" value="0"/>
            <param name="minimumScore" value="0.0"/>
    <param name="srr" value="0.1"/>
    <param name="srt" value="0.2"/>
    <param name="str" value="0.1"/>
    <param name="stt" value="0.2"/>
    <param name="linearUpdate" value="1.0"/>
    <param name="angularUpdate" value="0.5"/>
    <param name="temporalUpdate" value="-1.0"/>
    <param name="resampleThreshold" value="0.5"/>
    <param name="particles" value="30"/>    
    <param name="delta" value="0.05"/>
    <param name="llsamplerange" value="0.01"/>
    <param name="llsamplestep" value="0.01"/>
    <param name="lasamplerange" value="0.05"/>
    <param name="lasamplestep" value="0.05"/>
    <param name="transform_publish_period" value="0.05"/>
    <param name="occ_thresh" value="0.25"/>
    <param name="maxRange" value="80"/>



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