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 |