| 参数 |
default valude |
value 1 |
value 2 |
物理意义 |
| maxUrange |
80 |
16 |
|
usable range |
| throttle_scans |
1 |
2 |
|
skip more scans |
| map_update_interval |
5 |
3 |
|
How long (in seconds) between updates to the map; 时间短计算开销大 |
| lskip |
0 |
1 |
|
Number of beams to skip in each scan. Take only every (n+1)th laser ray for computing a match (0 = take all rays) |
| minimumScore |
0 |
50 |
|
Minimum score for considering the outcome of the scan matching good; 越小越相信激光 |
| srr |
0.1 |
0.05 |
|
Odometry error in translation as a function of translation (rho/rho) |
| srt |
0.2 |
0.1 |
|
Odometry error in translation as a function of rotation (rho/theta) |
| str |
0.1 |
0.05 |
|
Odometry error in rotation as a function of translation (theta/rho) |
| stt |
0.2 |
0.1 |
|
Odometry error in rotation as a function of rotation (theta/theta) |
| linearUpdate |
1.0 |
0.2 |
|
Process a scan each time the robot translates this far |
| angularUpdate |
0.5 |
0.1 |
|
Process a scan each time the robot rotates this far |
| temporalUpdate |
-1 |
3.0，5-10 |
|
Process a scan if the last scan processed is older than the update time in seconds. A value less than zero will turn time based updates off. |
| particles |
30 |
|
|
粒子束，默认30个，不能再小了; 50 -80 |
| transform_publish_period |
0 |
|
|
How long (in seconds) between transform publications. To disable broadcasting transforms, set to 0, gmapping 将不会发布map->odom, 所以需要手动设置 |
| xmin |
-100 |
10 |
|
Initial map size (in metres)，手动设小点 |
| xmax |
100 |
-10 |
|
– |
| delta |
0.05 |
|
|
栅格地图分辨率，默认不变 |
localization-issue-using-gmapping-and-odom-data
bad-maps-produced-by-gmapping-in-simulation-with-feature-poor-environments
how-to-make-better-maps-using-gmapping
| 角度 |
弧度 |
| 1 |
0.01121997376282069 |
| 5 |
0.05609986881410345 |
| 10 |
0.1121997376282069 |
| 15 |
0.16829960644231035 |
| 30 |
0.3365992128846207 |
| 45 |
0.504898819326931 |
| 60 |
0.6731984257692414 |
|
|
| 0.5729577951308232 |
0.01 |
| 5.729577951308232 |
0.1 |
| 28.64788975654116 |
0.5 |