gmapping.launch

<?xml version="1.0"?>

<launch>

  <node pkg="gmapping" type="slam_gmapping" name="slam_gmapping">
    <rosparam>
      odom_frame: odom
      base_frame: base_link
      map_frame: map

      map_update_interval: 0.5 # Publish new map

      maxUrange: 78 # Should be just less than sensor range
      maxRange: 82 # Should be just greater than sensor range
      particles: 100 # Increased from 80

      # Update frequencies
      linearUpdate: 0.3
      angularUpdate: 0.5
      temporalUpdate: 2.0
      resampleThreshold: 0.5

      # Initial Map Size
      xmin: -100.0
      ymin: -100.0
      xmax: 100.0
      ymax: 100.0
      delta: 0.5

      # All default
      sigma: 0.05
      kernelSize: 1
      lstep: 0.05
      astep: 0.05
      iterations: 5
      lsigma: 0.075
      ogain: 3.0
      lskip: 0
      minimumScore: 100.0
      llsamplerange: 0.01
      llsamplestep: 0.01
      lasamplerange: 0.005
      lasamplestep: 0.005
      srr: 0
      srt: 0
      str: 0
      stt: 0
    </rosparam>
  </node>
</launch>