amcl.launch

<launch>
  <!-- Arguments -->
  <!--arg name="model" default="$(env DIFFBOT_MODEL)" doc="model type [diffbot, remo]"/-->
  <arg name="model" default="diffbot" doc="model type [diffbot, remo]"/>
  <arg name="scan_topic"     default="diffbot/scan"/>
  <arg name="initial_pose_x" default="0.0"/>
  <arg name="initial_pose_y" default="0.0"/>
  <arg name="initial_pose_a" default="0.0"/>
  <arg name="use_map_topic"   default="true"/>
  <arg name="odom_frame_id"   default="/odom"/>
  <arg name="base_frame_id"   default="/base_footprint"/>
  <arg name="global_frame_id" default="/map"/>

  <!-- AMCL -->
  <node pkg="amcl" type="amcl" name="amcl">
  
    <param name="use_map_topic"             value="$(arg use_map_topic)"/>
    <param name="min_particles"             value="500"/>
    <param name="max_particles"             value="5000"/>
    <param name="kld_err"                   value="0.02"/>
    <param name="kld_z"                     value="0.99"/>
    <param name="update_min_d"              value="0.15"/>
    <param name="update_min_a"              value="0.15"/>
    <param name="resample_interval"         value="1"/>
    <param name="transform_tolerance"       value="0.1"/>
    <param name="recovery_alpha_slow"       value="0.00"/>
    <param name="recovery_alpha_fast"       value="0.00"/>
    <param name="initial_pose_x"            value="$(arg initial_pose_x)"/>
    <param name="initial_pose_y"            value="$(arg initial_pose_y)"/>
    <param name="initial_pose_a"            value="$(arg initial_pose_a)"/>
    <param name="gui_publish_rate"          value="50.0"/>

    <remap from="scan"                      to="$(arg scan_topic)"/>
    <param name="laser_max_range"           value="-1"/>
    <param name="laser_max_beams"           value="30"/>
    <param name="laser_z_hit"               value="0.95"/>
    <param name="laser_z_short"             value="0.1"/>
    <param name="laser_z_max"               value="0.05"/>
    <param name="laser_z_rand"              value="0.05"/>
    <param name="laser_sigma_hit"           value="0.2"/>
    <param name="laser_lambda_short"        value="0.1"/>
    <param name="laser_likelihood_max_dist" value="2.0"/>
    <param name="laser_model_type"          value="likelihood_field"/>

    <!-- Which model to use, either "diff", "omni", "diff-corrected" or "omni-corrected". -->
    <!-- diff-corrected was introduced to fix a bug and keep tuned robot's using the old modle (diff) working. -->
    <!-- For the bug see http://wiki.ros.org/amcl#Parameters and https://github.com/ros-planning/navigation/issues/20 -->
    <param name="odom_model_type"           value="diff-corrected"/>
    <param name="odom_alpha1"               value="0.1"/>
    <param name="odom_alpha2"               value="0.1"/>
    <param name="odom_alpha3"               value="0.1"/>
    <param name="odom_alpha4"               value="0.1"/>
    <param name="odom_frame_id"             value="$(arg odom_frame_id)"/>
    <param name="base_frame_id"             value="$(arg base_frame_id)"/>
    <param name="global_frame_id"           value="$(arg global_frame_id)"/>

  </node>
</launch>