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.
- The frame attached to the odometry system.
- Map update interval (sec).
- Max Range of laser sensor to use (meter).
- Min Score considering the results of scan matching.
- Max Range of laser sensor to use (meter).
- Min rotation angle required for processing.
- If the last scan time exceeds this update time, the scan is performed. Negative values will be ignored and not used.
- Max Range of laser sensor to use (meter).
- Number of beams to skip in each scan.
- Number of particles in the filter.
- Standard deviation of laser-assisted search.
- Max Range of laser sensor to use (meter).
- Window size of laser-assisted search.
- Initial search step (translation).
- Initial search step (rotation).
- Number of scan-matching iterations.
- The sigma of a beam used for likelihood computation
- Gain to be used while evaluating the likelihood.
- Odometry error (translation→ translation).
- Odometry error (translation→ translation).
- Odometry error (rotation → translation).
- Odometry error (rotation → rotation).
- Resampling threshold value.
- Initial map size (min x).
- Initial map size (min y).
- Initial map size (max x).
- Initial map size (max y).
- Translational sampling range for the likelihood.
- Translational sampling step for the likelihood.
- Angular sampling range for the likelihood.
- Angular sampling step for the likelihood.