add slam_gmapping

2025-06-06 16:15:07 +08:00
parent 9187b9fb85
commit a7b75c31cb
141 changed files with 15992 additions and 0 deletions
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+### 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         81.0     #   (maximum valid) for SICK LMS, 81m max, SICK PLS 50m
+maxUrange        80.0     #   (use up to)
+sigma            0.05     # 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
+