turtlebot3: turtlebot3_bringup | turtlebot3_description | turtlebot3_example | turtlebot3_navigation | turtlebot3_slam | turtlebot3_teleop

Package Summary

The turtlebot3_slam package provides roslaunch scripts for starting the SLAM

ROS Software Maintainer: ROBOTIS

ROBOTIS e-Manual

ROS API

turtlebot3_slam_gmapping

This package is used gmapping.

Parameters

~base_frame (string, default: base_footprint)
  • The frame attached to the mobile base.
~odom_frame (string, default: odom)
  • The frame attached to the odometry system.
~map_update_interval (double, default: 2.0)
  • Map update interval (sec).
~maxUrange (double, default: 4.0)
  • Max Range of laser sensor to use (meter).
~minimumScore (float, default: 100)
  • Min Score considering the results of scan matching.
~linearUpdate (float, default: 0.2)
  • Max Range of laser sensor to use (meter).
~angularUpdate (float, default: 0.2)
  • Min rotation angle required for processing.
~temporalUpdate (float, default: 0.5)
  • If the last scan time exceeds this update time, the scan is performed. Negative values will be ignored and not used.
~delta (float, default: 0.05)
  • Max Range of laser sensor to use (meter).
~lskip (int, default: 0)
  • Number of beams to skip in each scan.
~particles (int, default: 120)
  • Number of particles in the filter.
~sigma (float, default: 0.05)
  • Standard deviation of laser-assisted search.
~delta (float, default: 0.05)
  • Max Range of laser sensor to use (meter).
~kernelSize (int, default: 1)
  • Window size of laser-assisted search.
~lstep (float, default: 0.05)
  • Initial search step (translation).
~astep (float, default: 0.05)
  • Initial search step (rotation).
~iterations (int, default: 5)
  • Number of scan-matching iterations.
~lsigma (float, default: 0.075)
  • The sigma of a beam used for likelihood computation
~ogain (float, default: 3.0)
  • Gain to be used while evaluating the likelihood.
~srr (float, default: 0.01)
  • Odometry error (translation→ translation).
~srt (float, default: 0.02)
  • Odometry error (translation→ translation).
~srr (float, default: 0.01)
  • Odometry error (rotation → translation).
~stt (float, default: 0.02)
  • Odometry error (rotation → rotation).
~resampleThreshold (float, default: 0.5)
  • Resampling threshold value.
~xmin (float, default: -10.0)
  • Initial map size (min x).
~ymin (float, default: -10.0)
  • Initial map size (min y).
~xmax (float, default: 10.0)
  • Initial map size (max x).
~ymax (float, default: 10.0)
  • Initial map size (max y).
~llsamplerange (float, default: 0.01)
  • Translational sampling range for the likelihood.
~llsamplestep (float, default: 0.01)
  • Translational sampling step for the likelihood.
~lasamplerange (float, default: 0.005)
  • Angular sampling range for the likelihood.
~lasamplestep (float, default: 0.005)
  • Angular sampling step for the likelihood.

Wiki: turtlebot3_slam (last edited 2018-04-04 06:26:20 by Gilbert)