# Publish scans from best pose at a max of 10 Hz -->
odom_model_type: diff
odom_alpha5: 0.1
transform_tolerance: 0.2
gui_publish_rate: 10.0
laser_max_beams: 30
min_particles: 500
max_particles: 5000
kld_err: 0.05
kld_z: 0.99
odom_alpha1: 0.2
odom_alpha2: 0.2
# translation std dev, m
odom_alpha3: 0.9
odom_alpha4: 0.4
laser_z_hit: 0.5
laser_z_short: 0.05
laser_z_max: 0.05
laser_z_rand: 0.5
laser_sigma_hit: 0.2
laser_lambda_short: 0.1
laser_lambda_short: 0.1
laser_model_type: likelihood_field

laser_likelihood_max_dist: 2.0
update_min_d: 0.2
update_min_a: 0.5
odom_frame_id: odom
resample_interval: 1
transform_tolerance: 0.1
recovery_alpha_slow: 0.0
recovery_alpha_fast: 0.0

reset_th_alpha: 0.001

# Publish scans from best pose at a max of 10 Hz -->
odom_model_type: diff
odom_alpha5: 0.1
transform_tolerance: 0.2
gui_publish_rate: 10.0
laser_max_beams: 30
min_particles: 500
max_particles: 5000
kld_err: 0.05
kld_z: 0.99
odom_alpha1: 0.2
odom_alpha2: 0.2
# translation std dev, m
odom_alpha3: 0.9
odom_alpha4: 0.4
laser_z_hit: 0.5
laser_z_short: 0.05
laser_z_max: 0.05
laser_z_rand: 0.5
laser_sigma_hit: 0.2
laser_lambda_short: 0.1
laser_lambda_short: 0.1
laser_model_type: likelihood_field

laser_likelihood_max_dist: 2.0
update_min_d: 0.2
update_min_a: 0.5
odom_frame_id: odom
resample_interval: 1
transform_tolerance: 0.1
recovery_alpha_slow: 0.0
recovery_alpha_fast: 0.0

reset_th_alpha: 0.003

Fix er-amcl param for beta
Fix er-amcl param for beta
