odom_frame: odom base_frame: base_link map_frame: map map_update_interval: 0.5 # Publish new map maxUrange: 5.5 # Should be just less than sensor range maxRange: 6.1 # Should be just greater than sensor range particles: 100 # Increased from 80 # Update frequencies linearUpdate: 0.3 angularUpdate: 0.5 temporalUpdate: 2.0 resampleThreshold: 0.5 # Initial Map Size xmin: -100.0 ymin: -100.0 xmax: 100.0 ymax: 100.0 delta: 0.05 # All default sigma: 0.05 kernelSize: 1 lstep: 0.05 astep: 0.05 iterations: 5 lsigma: 0.075 ogain: 3.0 lskip: 0 llsamplerange: 0.01 llsamplestep: 0.01 lasamplerange: 0.005 lasamplestep: 0.005