| alpha1: |
- Description
Expected process noise in odometry’s rotation estimate from rotation.
|
|---|
| alpha2: |
- Description
Expected process noise in odometry’s rotation estimate from translation.
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|---|
| alpha3: |
- Description
Expected process noise in odometry’s translation estimate from translation.
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|---|
| alpha4: |
- Description
Expected process noise in odometry’s translation estimate from rotation.
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|---|
| alpha5: |
- Description
For Omni models only: translation noise.
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| base_frame_id: |
| Type |
Default |
| string |
“base_footprint” |
- Description
Robot base frame.
|
|---|
| beam_skip_distance: |
|---|
| |
- Description
Ignore beams that most particles disagree with in Likelihood field model. Maximum distance to consider skipping for (m).
|
| beam_skip_error_threshold: |
|---|
| |
- Description
Percentage of beams after not matching map to force full update due to bad convergance.
|
| beam_skip_threshold: |
|---|
| |
- Description
Percentage of beams required to skip.
|
| do_beamskip: |
- Description
Whether to do beam skipping in Likelihood field model.
|
|---|
| global_frame_id: |
|---|
| |
| Type |
Default |
| string |
“map” |
- Description
The name of the coordinate frame published by the localization system.
|
| lambda_short: |
- Description
Exponential decay parameter for z_short part of model.
|
|---|
| laser_likihood_max_dist: |
|---|
| |
- Description
Maximum distance to do obstacle inflation on map, for use in likelihood_field model.
|
| laser_max_range: |
|---|
| |
| Type |
Default |
| double |
100.0 |
- Description
Maximum scan range to be considered, -1.0 will cause the laser’s reported maximum range to be used.
|
| laser_min_range: |
|---|
| |
- Description
Minimum scan range to be considered, -1.0 will cause the laser’s reported minimum range to be used.
|
| laser_model_type: |
|---|
| |
| Type |
Default |
| string |
“likelihood_field” |
- Description
Which model to use, either beam, likelihood_field, or likelihood_field_prob. Same as likelihood_field but incorporates the beamskip feature, if enabled.
|
| set_initial_pose: |
|---|
| |
- Description
Causes AMCL to set initial pose from the initial_pose* parameters instead of waiting for the initial_pose message.
|
| initial_pose: |
| Type |
Default |
| Pose2D |
{x: 0.0, y: 0.0, z: 0.0, yaw: 0.0} |
- Description
X, Y, Z, and yaw coordinates of initial pose (meters and radians) of robot base frame in global frame.
|
|---|
| max_beams: |
- Description
How many evenly-spaced beams in each scan to be used when updating the filter.
|
|---|
| max_particles: |
- Description
Maximum allowed number of particles.
|
|---|
| min_particles: |
- Description
Minimum allowed number of particles.
|
|---|
| odom_frame_id: |
| Type |
Default |
| string |
“odom” |
- Description
Which frame to use for odometry.
|
|---|
| pf_err: |
- Description
Particle Filter population error.
|
|---|
| pf_z: |
- Description
Particle filter population density.
|
|---|
| recovery_alpha_fast: |
|---|
| |
- Description
Exponential decay rate for the fast average weight filter, used in deciding when to recover by adding random poses. A good value might be 0.001.
|
| recovery_alpha_slow: |
|---|
| |
- Description
Exponential decay rate for the slow average weight filter, used in deciding when to recover by adding random poses. A good value might be 0.001.
|
| resample_interval: |
|---|
| |
- Description
Number of filter updates required before resampling.
|
| robot_model_type: |
|---|
| |
| Type |
Default |
| string |
“nav2_amcl::DifferentialMotionModel” |
- Description
The fully-qualified type of the plugin class. Options are “nav2_amcl::DifferentialMotionModel” and “nav2_amcl::OmniMotionModel”. Users can also provide their own custom motion model plugin type.
- Note for users of galactic and earlier
The models are selectable by string key (valid options: “differential”, “omnidirectional”) rather than plugins.
|
| save_pose_rate: |
- Description
Maximum rate (Hz) at which to store the last estimated pose and covariance to the parameter server, in the variables ~initial_pose_* and ~initial_cov_*. This saved pose will be used on subsequent runs to initialize the filter (-1.0 to disable).
|
|---|
| sigma_hit: |
- Description
Standard deviation for Gaussian model used in z_hit part of the model.
|
|---|
| tf_broadcast: |
- Description
Set this to false to prevent amcl from publishing the transform between the global frame and the odometry frame.
|
|---|
| transform_tolerance: |
|---|
| |
- Description
Time with which to post-date the transform that is published, to indicate that this transform is valid into the future.
|
| update_min_a: |
- Description
Rotational movement required before performing a filter update.
|
|---|
| update_min_d: |
- Description
Translational movement required before performing a filter update.
|
|---|
| z_hit: |
- Description
Mixture weight for z_hit part of model, sum of all used z weight must be 1. Beam uses all 4, likelihood model uses z_hit and z_rand..
|
|---|
| z_max: |
- Description
Mixture weight for z_max part of model, sum of all used z weight must be 1. Beam uses all 4, likelihood model uses z_hit and z_rand.
|
|---|
| z_rand: |
- Description
Mixture weight for z_rand part of model, sum of all used z weight must be 1. Beam uses all 4, likelihood model uses z_hit and z_rand..
|
|---|
| z_short: |
| Type |
Default |
| double |
0.005 |
- Description
Mixture weight for z_short part of model, sum of all used z weight must be 1. Beam uses all 4, likelihood model uses z_hit and z_rand.
|
|---|
| always_reset_initial_pose: |
|---|
| |
- Description
Requires that AMCL is provided an initial pose either via topic or initial_pose* parameter (with parameter set_initial_pose: true) when reset. Otherwise, by default AMCL will use the last known pose to initialize.
|
| scan_topic: |
- Description
Laser scan topic to subscribe to.
|
|---|
| map_topic: |
- Description
Map topic to subscribe to.
|
|---|
| first_map_only: |
- Description
Allows AMCL to accept maps more than once on the map_topic. This is especially useful when you’re using the LoadMap service in map_server. Prior to Humble, this is first_map_only_.
|
|---|