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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

    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)
    • The frame attached to the mobile base.
    ~odom_frame (string, default: odom)
    • The frame attached to the odometry system.
    ~map_update_interval (double, default: 2.0)
    • Map update interval (sec).
    ~maxUrange (double, default: 4.0)
    • Max Range of laser sensor to use (meter).
    ~minimumScore (float, default: 100)
    • Min Score considering the results of scan matching.
    ~linearUpdate (float, default: 0.2)
    • Max Range of laser sensor to use (meter).
    ~angularUpdate (float, default: 0.2)
    • Min rotation angle required for processing.
    ~temporalUpdate (float, default: 0.5)
    • If the last scan time exceeds this update time, the scan is performed. Negative values will be ignored and not used.
    ~delta (float, default: 0.05)
    • Max Range of laser sensor to use (meter).
    ~lskip (int, default: 0)
    • Number of beams to skip in each scan.
    ~particles (int, default: 120)
    • Number of particles in the filter.
    ~sigma (float, default: 0.05)
    • Standard deviation of laser-assisted search.
    ~delta (float, default: 0.05)
    • Max Range of laser sensor to use (meter).
    ~kernelSize (int, default: 1)
    • Window size of laser-assisted search.
    ~lstep (float, default: 0.05)
    • Initial search step (translation).
    ~astep (float, default: 0.05)
    • Initial search step (rotation).
    ~iterations (int, default: 5)
    • Number of scan-matching iterations.
    ~lsigma (float, default: 0.075)
    • The sigma of a beam used for likelihood computation
    ~ogain (float, default: 3.0)
    • Gain to be used while evaluating the likelihood.
    ~srr (float, default: 0.01)
    • Odometry error (translation→ translation).
    ~srt (float, default: 0.02)
    • Odometry error (translation→ translation).
    ~srr (float, default: 0.01)
    • Odometry error (rotation → translation).
    ~stt (float, default: 0.02)
    • Odometry error (rotation → rotation).
    ~resampleThreshold (float, default: 0.5)
    • Resampling threshold value.
    ~xmin (float, default: -10.0)
    • Initial map size (min x).
    ~ymin (float, default: -10.0)
    • Initial map size (min y).
    ~xmax (float, default: 10.0)
    • Initial map size (max x).
    ~ymax (float, default: 10.0)
    • Initial map size (max y).
    ~llsamplerange (float, default: 0.01)
    • Translational sampling range for the likelihood.
    ~llsamplestep (float, default: 0.01)
    • Translational sampling step for the likelihood.
    ~lasamplerange (float, default: 0.005)
    • Angular sampling range for the likelihood.
    ~lasamplestep (float, default: 0.005)
    • Angular sampling step for the likelihood.

    Wiki: turtlebot3_slam (2018-04-04 06:26:20由Gilbert編輯)

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