X-lanni
79 lines
2.5 KiB
INI
79 lines
2.5 KiB
INI
### gfs dummy config file
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## WARNING: Changing these parameters, can
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## increase of decrese the performance of the
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## mapper!
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[gfs]
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#################################################
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##
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## These are probably the most improtant parameters
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##
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## gfs - number of particles
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particles 30
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## gfs measurement integration
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angularUpdate 0.5
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linearUpdate 1
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## map resolution
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delta 0.05
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## scan matcher
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maxrange 81.0 # (maximum valid) for SICK LMS, 81m max, SICK PLS 50m
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maxUrange 80.0 # (use up to)
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sigma 0.05 # scan matcher cell sigma, for the greedy search
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regscore 0.0004 # minimum score for regsistering a scan
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iterations 5 # iterations
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critscore 0.0 # critical score (leave this)
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maxMove 1.0 # maximum move among two scans. This detects some corrupted logs
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autosize off # determine te map size by pre readoing the log
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## default settings for a 0.1 m map cell
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lstep 0.05 # linear search step (choose delta)
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astep 0.05 # angular search step, this is fine, depending on the odometry error and the update interval
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lsigma 0.05 # sigma likelihood of 1 beam
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lskip 0 # beams to skip in the likelihood computation
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skipMatching off # do not perform scan matching before computing the statistics
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kernelSize 1 # the higher the value the slower the filter
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# the better it can deal with noise, but the less precise and slower
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ogain 3 # gain for smoothing the likelihood
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resampleThreshold 0.5 # when neff is below this value a resampling occurs
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randseed 0 # this is for the repeated experiments
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## likelihood sampling
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llsamplerange 0.05 # linear range
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llsamplestep 0.05 # linear step
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lasamplerange 0.05 # angular range
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lasamplestep 0.05 # angular step
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## motion model parameters
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srr 0.1 # translation as a function of translation
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srt 0.1 # translation as a function of rotation
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str 0.1 # rotation as a function of translation
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stt 0.1 # rotation as a function of rotation
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## odometry integration in proposal
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linearOdometryReliability 0.0
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angularOdometryReliability 0.0
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considerOdometryCovariance off
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## inital map params
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xmin -100.0
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ymin -100.0
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xmax 100.0
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ymax 100.0
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## file parameters
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readFromStdin off
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onLine off
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generateMap off
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