improve amcl.launch parameters: use diff-corrected

Author: fjp

diffbot_navigation/launch/amcl.launch

@@ -6,17 +6,23 @@
   <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="$(arg use_map_topic)"/>
     <param name="min_particles"             value="500"/>
-    <param name="max_particles"             value="3000"/>
+    <param name="max_particles"             value="5000"/>
     <param name="kld_err"                   value="0.02"/>
-    <param name="update_min_d"              value="0.20"/>
-    <param name="update_min_a"              value="0.20"/>
+    <param name="kld_err"                   value="0.99"/>
+    <param name="update_min_d"              value="0.15"/>
+    <param name="update_min_a"              value="0.15"/>
     <param name="resample_interval"         value="1"/>
-    <param name="transform_tolerance"       value="0.5"/>
+    <param name="transform_tolerance"       value="0.1"/>
     <param name="recovery_alpha_slow"       value="0.00"/>
     <param name="recovery_alpha_fast"       value="0.00"/>
     <param name="initial_pose_x"            value="$(arg initial_pose_x)"/>
@@ -25,24 +31,28 @@
     <param name="gui_publish_rate"          value="50.0"/>
 
     <remap from="scan"                      to="$(arg scan_topic)"/>
-    <param name="laser_max_range"           value="3.5"/>
-    <param name="laser_max_beams"           value="180"/>
-    <param name="laser_z_hit"               value="0.5"/>
-    <param name="laser_z_short"             value="0.05"/>
+    <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="0.5"/>
+    <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"/>
 
-    <param name="odom_model_type"           value="diff"/>
+    <!-- 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="odom"/>
-    <param name="base_frame_id"             value="base_footprint"/>
+    <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>