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Robot Operating System Cookbook by Kumar Bipin

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How it works…

Here, we are using the amcl_diff.launch file since our robot has a differential drive platform or model. Moreover, we will discuss some of the parameters in the amcl_diff.launch file:

<launch><node pkg="amcl" type="amcl" name="amcl" output="screen"><!-- Publish scans from best pose at a max of 10 Hz --><param name="odom_model_type" value="diff" /><param name="odom_alpha5" value="0.1" /><param name="transform_tolerance" value="0.2" /><param name="gui_publish_rate" value="10.0" /><param name="laser_max_beams" value="30" /><param name="min_particles" value="500" /><param name="max_particles" value="5000" /><param name="kld_err" value="0.05" /><param name="kld_z" value="0.99" /><param name="odom_alpha1" value="0.2" /><param name="odom_alpha2" ...

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