| layout | title | category | tags | |||
|---|---|---|---|---|---|---|
reference |
amcl.launch |
launch |
|
<launch>
<!-- set this to true if you want amcl to start without having to call the localization start service -->
<arg name="auto_start" default="false"/>
<arg name="use_prob_model" default="false"/>
<!-- likelihood_field model is better at not getting lost; likelihood_field_prob model is better for mapping-->
<arg if="$(arg use_prob_model)" name="prob_model" default="likelihood_field_prob"/>
<arg unless="$(arg use_prob_model)" name="prob_model" default="likelihood_field"/>
<arg name="min_particles" default="3000"/>
<arg name="use_map_topic" default="true"/>
<arg name="init_global_pose" default="false"/>
<arg name="scan_topic" default="scan" />
<arg name="base_frame_id" default="base_footprint" />
<arg name="odom_frame_id" default="odom" />
<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="tf_broadcast" default="true" />
<arg name="max_beams" default="60" />
<arg name="topic_prefix" default="laser"/>
<arg name="laser_sigma_hit" default="0.3"/>
<arg name="do_beamskip" default="true"/>
<arg name="resample_interval" default="3"/>
<arg name="initial_pose_channel" default="initialpose"/>
<arg name="draw_laser_points" default="false"/>
<arg name="publish_test_frame" default="false"/>
<arg name="odom_only" default="false"/>
<arg name="publish_basic_pose" default="true"/>
<arg name="map_topic" default="map"/>
<arg name="use_cov_from_params" default="false" />
<arg name="use_tf_to_update_initial_pose" default="false" />
<arg name="initial_cov" default="0.01"/>
<arg name="initial_cov_rot" default="0.069"/>
<arg name="transform_tolerance" default="1.0"/>
<arg name="update_min_d" default="0.1"/>
<arg name="laser_max_range" default="5.0"/>
<!-- default params for likelihood_field model -->
<arg unless="$(arg use_prob_model)" name="odom_alpha1" default="0.3"/>
<arg unless="$(arg use_prob_model)" name="odom_alpha2" default="0.3"/>
<arg unless="$(arg use_prob_model)" name="odom_alpha3" default="0.25"/>
<arg unless="$(arg use_prob_model)" name="odom_alpha4" default="0.25"/>
<!-- default params for likelihood_field_prob model -->
<arg if="$(arg use_prob_model)" name="odom_alpha1" default="0.35"/>
<arg if="$(arg use_prob_model)" name="odom_alpha2" default="0.35"/>
<arg if="$(arg use_prob_model)" name="odom_alpha3" default="0.3"/>
<arg if="$(arg use_prob_model)" name="odom_alpha4" default="0.3"/>
<node pkg="amcl" type="amcl" name="$(arg topic_prefix)_amcl" respawn="true" respawn_delay="2.0">
<param name="auto_start" value="$(arg auto_start)"/>
<param name="publish_basic_pose" value="$(arg publish_basic_pose)"/>
<param name="draw_laser_points" value="$(arg draw_laser_points)"/>
<!-- <rosparam param="laser_colors"> -->
<!-- [0, 1.0, .0] -->
<!-- </rosparam> -->
<param name="publish_test_frame" value="$(arg publish_test_frame)"/>
<param name="test_frame_id" value="$(arg topic_prefix)_base_footprint"/>
<param name="publish_basic_pose_on_convergence" value="false"/>
<param name="tf_broadcast" value="$(arg tf_broadcast)"/>
<param name="init_global" value="$(arg init_global_pose)"/>
<param name="draw_weight_as_height" value="true"/>
<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="$(arg initial_pose_a)"/>
<param name="base_frame_id" value="$(arg base_frame_id)"/>
<param name="use_map_topic" value="$(arg use_map_topic)"/>
<!--<param name="scan_topic" value="$(arg scan_topic)"/>-->
<!-- Publish scans from best pose at a max of 10 Hz -->
<param name="odom_model_type" value="diff"/>
<param name="gui_publish_rate" value="10.0"/>
<param name="laser_max_beams" value="$(arg max_beams)"/>
<param name="laser_max_range" value="$(arg laser_max_range)"/>
<param name="min_particles" value="$(arg min_particles)"/>
<param name="max_particles" value="10000"/>
<param name="kld_err" value="0.05"/>
<param name="kld_z" value="0.99"/>
<param name="penalize_unknown" value="true"/>
<param name="unknown_radius" value="6"/>
<param name="unknown_threshold" value="0.6"/>
<param name="unknown_min_penalty" value="0.2"/>
<param name="do_beamskip" value="$(arg do_beamskip)"/>
<param name="beam_skip_distance" value="0.3"/>
<param name="beam_skip_threshold" value="0.3"/>
<param name="use_cov_from_params" value="$(arg use_cov_from_params)"/>
<param name="use_tf_to_update_initial_pose" value="$(arg use_tf_to_update_initial_pose)"/>
<param name="std_xx" value="$(arg initial_cov)"/>
<param name="std_yy" value="$(arg initial_cov)"/>
<param name="std_tt" value="$(arg initial_cov_rot)"/>
<!-- <param name="std_xx" value="0.25"/> -->
<!-- <param name="std_yy" value="0.25"/> -->
<!-- <param name="std_tt" value="0.616850"/> -->
<!--alpha 1 and 2 impact std for rotation motions-->
<param name="odom_alpha1" value="$(arg odom_alpha1)"/>
<param name="odom_alpha2" value="$(arg odom_alpha2)"/>
<!-- translation std dev, m -->
<param name="odom_alpha3" value="$(arg odom_alpha3)"/>
<param name="odom_alpha4" value="$(arg odom_alpha4)"/>
<param name="odom_alpha5" value="0.1"/> <!--This is not used for the diff motion model-->
<param name="stuck_prob" value="0.05"/>
<param name="laser_z_hit" value="0.5"/>
<param name="laser_z_short" value="0.1"/>
<param name="laser_z_max" value="0.05"/>
<param name="laser_z_rand" value="0.35"/>
<param name="laser_sigma_hit" value="$(arg laser_sigma_hit)"/>
<param name="laser_lambda_short" value="0.1"/>
<param name="laser_model_type" value="$(arg prob_model)"/>
<!-- <param name="laser_model_type" value="beam"/> -->
<param name="laser_likelihood_max_dist" value="2.0"/>
<param name="update_min_d" value="$(arg update_min_d)"/>
<param name="update_min_a" value="0.2"/>
<param name="odom_frame_id" value="$(arg odom_frame_id)"/>
<param name="resample_interval" value="$(arg resample_interval)"/>
<param name="transform_tolerance" value="$(arg transform_tolerance)"/>
<param name="recovery_alpha_slow" value="0.0"/>
<param name="recovery_alpha_fast" value="0.0"/>
<param name="odom_only" value="$(arg odom_only)"/> <!-- do not publish map to odom TF, odom only localization -->
<remap from="scan" to="$(arg scan_topic)"/>
<remap from="amcl_pose" to="$(arg topic_prefix)_amcl_pose"/>
<remap from="amcl_basic_pose" to="$(arg topic_prefix)_amcl_basic_pose"/>
<remap from="particlecloud" to="$(arg topic_prefix)_particlecloud"/>
<remap from="global_localization" to="$(arg topic_prefix)_global_localization"/>
<remap from="request_nomotion_update" to="$(arg topic_prefix)_request_nomotion_update"/>
<remap from="initialpose" to="$(arg initial_pose_channel)"/>
<remap from="map" to="$(arg map_topic)"/>
</node>
</launch>
If set to true, amcl will start without you having to call the localization start service.
Switch between likelihood_field_prob and likelihood_field probabilistic models
for laser observations.
Prefix to add to the node name (topic_prefix_amcl) and test_frame_id (topic_prefix_base_footprint)
All other args feed directly into amcl params. See laser_amcl docs for
definitions.
laser_amcl