launchfiles/gmapping-only.launch at master · dudasdavid/launchfiles · GitHub

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<?xml version="1.0"?>
<launch>
    <node pkg="gmapping" type="slam_gmapping" name="gmapping" output="screen" >
       <param name="odom_frame" value="odom_combined" />
       <param name="base_frame" value="base_link" />
        <!-- Process 1 out of every this many scans (set it to a higher number to skip more scans)  -->
        <param name="throttle_scans" value="1"/>

        <param name="map_update_interval" value="5.0"/> <!-- default: 5.0 -->

        <!-- The maximum usable range of the laser. A beam is cropped to this value.  -->
        <param name="maxUrange" value="5.5"/>

        <!-- The maximum range of the sensor. If regions with no obstacles within the range of the sensor should appear as free space in the map, set maxUrange < maximum range of the real sensor <= maxRange -->
        <param name="maxRange" value="5.5"/>

        <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="3.0"/>
        <param name="minimumScore" value="50.0"/>
        <!-- Number of beams to skip in each scan. -->
        <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"/>

        <!-- Process a scan each time the robot translates this far  -->
        <param name="linearUpdate" value="0.1"/>

        <!-- Process a scan each time the robot rotates this far  -->
        <param name="angularUpdate" value="0.1"/>

        <param name="temporalUpdate" value="1.0"/>
        <param name="resampleThreshold" value="0.5"/>

        <!-- Number of particles in the filter. default 30        -->
        <param name="particles" value="30"/>

    <!-- Initial map size  -->
        <param name="xmin" value="-10.0"/>
        <param name="ymin" value="-10.0"/>
        <param name="xmax" value="10.0"/>
        <param name="ymax" value="10.0"/>

        <!-- Processing parameters (resolution of the map)  -->
        <param name="delta" value="0.025"/>

        <param name="llsamplerange" value="0.01"/>
        <param name="llsamplestep" value="0.01"/>
        <param name="lasamplerange" value="0.005"/>
        <param name="lasamplestep" value="0.005"/>
    </node>
</launch>