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slam_gmapping.launch
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<launch>
<arg name="rviz_config" default="$(find raspimouse_ros_examples)/rviz/slam.rviz" />
<arg name="urg" default="false" />
<arg name="rplidar" default="false" />
<arg name="lds" default="false" />
<node pkg="gmapping" type="slam_gmapping" name="raspimouse_slam_gmapping" output="screen">
<!-- <remap from="scan" to="base_scan"/> -->
<param name="base_frame" value="base_link" />
<param name="odom_frame" value="odom" />
<param name="map_frame" value="map" />
<param name="map_update_interval" value="1.0"/>
<param name="maxUrange" value="5.6" if="$(arg urg)"/>
<param name="maxUrange" value="12" if="$(arg rplidar)"/>
<param name="maxUrange" value="3.5" if="$(arg lds)"/>
<!-- <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="lskip" value="0"/> -->
<!-- <param name="srr" value="0.1"/> -->
<!-- <param name="srt" value="0.2"/> -->
<!-- <param name="str" value="0.1"/> -->
<!-- <param name="stt" value="0.2"/> -->
<param name="linearUpdate" value="0.1"/>
<param name="angularUpdate" value="0.1"/>
<param name="temporalUpdate" value="0.5"/>
<!-- <param name="resampleThreshold" value="0.5"/> -->
<param name="particles" value="300"/>
<param name="xmin" value="-10.0"/>
<param name="ymin" value="-10.0"/>
<param name="xmax" value="10.0"/>
<param name="ymax" value="10.0"/>
<!-- <param name="delta" value="0.05"/> -->
<!-- <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>
<group if="$(arg urg)">
<node pkg="tf" type="static_transform_publisher" name="laser_broadcaster" args="0 0 0.01 0 0 0 base_link laser 100" />
</group>
<group if="$(arg rplidar)">
<node pkg="tf" type="static_transform_publisher" name="laser_broadcaster" args="0 0 0.01 0 3.14 3.14 base_link laser 100" />
</group>
<group if="$(arg lds)">
<node pkg="tf" type="static_transform_publisher" name="laser_broadcaster" args="0 0 0.01 0 3.14 3.14 base_link laser 100" />
</group>
<node name="rviz" pkg="rviz" type="rviz" respawn="false"
args="-d $(arg rviz_config)" output="screen" />
</launch>