### gfs dummy config file
## WARNING: Changing these parameters, can
## increase of decrese the performance of the
## mapper!
[gfs]
#################################################
##
## These are probably the most improtant parameters
##
## gfs - number of particles
particles 30
## gfs measurement integration
angularUpdate 0.5
linearUpdate 1
## map resolution
delta 0.05
## scan matcher
maxrange 50.0 # (maximum valid) for SICK LMS, 81m max, SICK PLS 50m
maxUrange 50.0 # (use up to)
sigma 0.07 # scan matcher cell sigma, for the greedy search
regscore 0.0004 # minimum score for regsistering a scan
iterations 5 # iterations
critscore 0.0 # critical score (leave this)
maxMove 1.0 # maximum move among two scans. This detects some corrupted logs
autosize off # determine te map size by pre readoing the log
## default settings for a 0.1 m map cell
lstep 0.05 # linear search step (choose delta)
astep 0.05 # angular search step, this is fine, depending on the odometry error and the update interval
lsigma 0.05 # sigma likelihood of 1 beam
lskip 0 # beams to skip in the likelihood computation
skipMatching off # do not perform scan matching before computing the statistics
kernelSize 1 # the higher the value the slower the filter
# the better it can deal with noise, but the less precise and slower
ogain 3 # gain for smoothing the likelihood
resampleThreshold 0.5 # when neff is below this value a resampling occurs
randseed 0 # this is for the repeated experiments
## likelihood sampling
llsamplerange 0.05 # linear range
llsamplestep 0.05 # linear step
lasamplerange 0.05 # angular range
lasamplestep 0.05 # angular step
## motion model parameters
srr 0.1 # translation as a function of translation
srt 0.1 # translation as a function of rotation
str 0.1 # rotation as a function of translation
stt 0.1 # rotation as a function of rotation
## odometry integration in proposal
linearOdometryReliability 0.0
angularOdometryReliability 0.0
considerOdometryCovariance off
## inital map params
xmin -100.0
ymin -100.0
xmax 100.0
ymax 100.0
## file parameters
readFromStdin off
onLine off
generateMap off
Gmapping 参数 说明
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