Gmapping各个参数的说明-不定期更新(后面更新解析部分)

<launch>
    <arg name="scan_topic" default="scan" />




        


    <node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen" clear_params="true">

        
        <param name="odom_frame" value="/odom"/>
        

        
        <param name="base_frame" value="base_link"/> 
        <param name="map_frame" value="map"/> 

        
        
        <param name="map_update_interval" value="5.0"/>
        
        

        
        <param name="maxRange" value="12.0"/>
        <param name="maxUrange" value="10.0"/>  

        <param name="sigma" value="0.05"/>      

         
        <param name="kernelSize" value="3"/>    
        

        <param name="lstep" value="0.05"/>      
        <param name="astep" value="0.05"/>      
        <param name="iterations" value="5"/>    
        <param name="lsigma" value="0.075"/>    
        <param name="ogain" value="3.0"/>
        <param name="lskip" value="0"/>         

        <param name="srr" value="0.01"/>        
        <param name="srt" value="0.02"/>        
        <param name="str" value="0.01"/>        
        <param name="stt" value="0.02"/>        

        
        <param name="linearUpdate" value="0.5"/>    
        <param name="angularUpdate" value="0.436"/> 
        <param name="temporalUpdate" value="-1.0"/> 

        <param name="resampleThreshold" value="0.5"/>   

        
        
        <param name="particles" value="8"/> 

        
        <param name="xmin" value="-50.0"/>
        <param name="ymin" value="-50.0"/>
        <param name="xmax" value="50.0"/>
        <param name="ymax" value="50.0"/>

        
        <param name="delta" value="0.05"/>

        
        <param name="llsamplerange" value="0.01"/>
        <param name="llsamplestep" value="0.01"/>
        <param name="lasamplerange" value="0.005"/>
        <param name="lasamplestep" value="0.005"/>

        <remap from="scan" to="$(arg scan_topic)"/>

        
        
        
    node>
launch>