turtlebot3 slam_gmapping.launch文件源码:
<launch>
<!-- Arguments -->
<arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/>
<arg name="configuration_basename" default="turtlebot3_lds_2d.lua"/>
<arg name="set_base_frame" default="base_footprint"/>
<arg name="set_odom_frame" default="odom"/>
<arg name="set_map_frame" default="map"/>
<!-- Gmapping -->
<node pkg="gmapping" type="slam_gmapping" name="turtlebot3_slam_gmapping" output="screen">
<param name="base_frame" value="$(arg set_base_frame)"/>
<param name="odom_frame" value="$(arg set_odom_frame)"/>
<param name="map_frame" value="$(arg set_map_frame)"/>
<param name="map_update_interval" value="2.0"/>
<param name="maxUrange" value="3.0"/>
<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="minimumScore" value="50"/>
<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="1.0"/>
<param name="angularUpdate" value="0.2"/>
<param name="temporalUpdate" value="0.5"/>
<param name="resampleThreshold" value="0.5"/>
<param name="parti