Slightly improved AMCL params

lalten · Jan 28, 2016 · c7fde93 · c7fde93
1 parent ada7b46
commit c7fde93
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Showing 2 changed files with 5 additions and 3 deletions.
diff --git a/tas/launch/odom.launch b/tas/launch/odom.launch
@@ -9,7 +9,7 @@
       laserscan_topics: /scan_front /scan_back
       angle_min: -3.14159
       angle_max: 3.14159
-      range_min: 0
+      range_min: 0.3
       range_max: 100
     </rosparam>
   </node>

diff --git a/tas/launch/odom_amcl.launch b/tas/launch/odom_amcl.launch
@@ -54,10 +54,12 @@
     <rosparam>
       update_min_d: 0.0     # Translational movement required before performing a filter update. (default 0.2)
       update_min_a: 0.0     # Translational movement required before performing a filter update. (default π/6.0=0.523598776 radians)
+      min_particles: 800
+      max_particles: 8000
       odom_model_type: diff
       odom_alpha1: 0.5      # expected noise in odometry rotation from rotational robot motion (default 0.2)
-      odom_alpha2: 0.4      # expected noise in odometry rotation from translational robot motion (default 0.2)  
-      odom_alpha3: 2.0      # expected noise in odometry translation from translational robot motion (default 0.2)
+      odom_alpha2: 0.8      # expected noise in odometry rotation from translational robot motion (default 0.2)  
+      odom_alpha3: 2.5      # expected noise in odometry translation from translational robot motion (default 0.2)
       odom_alpha4: 0.2      # expected noise in odometry translation from rotational robot motion (default 0.2)
       odom_alpha5: 0.2      # Translation-related noise parameter (default 0.2)
       tf_broadcast: true    # allow amcl to publish the transform between the global frame and the odometry frame