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turtlebot3: turtlebot3_bringup | turtlebot3_description | turtlebot3_example | turtlebot3_navigation | turtlebot3_slam | turtlebot3_teleop

Package Summary

The turtlebot3_slam package provides roslaunch scripts for starting the SLAM

turtlebot3: turtlebot3_bringup | turtlebot3_description | turtlebot3_example | turtlebot3_navigation | turtlebot3_slam | turtlebot3_teleop

Package Summary

The turtlebot3_slam package provides roslaunch scripts for starting the SLAM

ROS Software Maintainer: ROBOTIS

ROBOTIS e-Manual

ROS API

turtlebot3_slam_gmapping

This package is used gmapping.

Parameters

~base_frame (string, default: base_footprint) ~odom_frame (string, default: odom) ~map_update_interval (double, default: 2.0) ~maxUrange (double, default: 4.0) ~minimumScore (float, default: 100) ~linearUpdate (float, default: 0.2) ~angularUpdate (float, default: 0.2) ~temporalUpdate (float, default: 0.5) ~delta (float, default: 0.05) ~lskip (int, default: 0) ~particles (int, default: 120) ~sigma (float, default: 0.05) ~delta (float, default: 0.05) ~kernelSize (int, default: 1) ~lstep (float, default: 0.05) ~astep (float, default: 0.05) ~iterations (int, default: 5) ~lsigma (float, default: 0.075) ~ogain (float, default: 3.0) ~srr (float, default: 0.01) ~srt (float, default: 0.02) ~srr (float, default: 0.01) ~stt (float, default: 0.02) ~resampleThreshold (float, default: 0.5) ~xmin (float, default: -10.0) ~ymin (float, default: -10.0) ~xmax (float, default: 10.0) ~ymax (float, default: 10.0) ~llsamplerange (float, default: 0.01) ~llsamplestep (float, default: 0.01) ~lasamplerange (float, default: 0.005) ~lasamplestep (float, default: 0.005)

2019-08-10 13:13