<launch>
   <!-->
  <node pkg="beginner_tutorials" type="talker" name="talker"/>
   <-->
  <node pkg="map_server" type="map_server" name="map_server" args="/home/zx/Downloads/map.yaml"/>
  <node pkg="tf" type="static_transform_publisher" name="link1_broadcaster" args="0 0 0 0 0 0 1 base_link laser 30" />
  <!--><node pkg="tf" type="static_transform_publisher" name="odom_base_link_broadcaster" 
args="0.1 0 0 0 0 0 1 odom base_link 30" /><-->
	<!--><node pkg="tf" type="static_transform_publisher" name="odom_raw_to_map_broadcaster" 
args="0.1 0 0 0 0 0 1 map odom_raw 30" /><-->
	
	<node pkg="laser_scan_matcher" type="laser_scan_matcher_node"
    name="laser_scan_matcher_node" output="screen">

    <param name="max_iterations" value="20"/>
	<param name="fixed_frame" value="odom"/>
  </node>
	
	
	<!-- amcl node -->
  <node pkg="amcl" type="amcl" name="amcl" output="screen">

  <!--<remap from="scan" to="scan"/>-->
  <!-- Publish scans from best pose at a max of 10 Hz -->
  <param name="use_map_topic" value="true"/>
  <param name="odom_model_type" value="omni"/>
  <param name="odom_alpha5" value="0.1"/>
  <param name="transform_tolerance" value="0.5" />
  <param name="gui_publish_rate" value="10.0"/>
  <param name="laser_max_beams" value="300"/>
  <param name="min_particles" value="100"/>
  <param name="max_particles" value="5000"/>
  <param name="kld_err" value="0.05"/>
  <param name="kld_z" value="0.99"/>
  <param name="odom_alpha1" value="0.1"/>
  <param name="odom_alpha2" value="0.1"/>
  <!-- translation std dev, m -->
  <param name="odom_alpha3" value="0.1"/>
  <param name="odom_alpha4" value="0.1"/>
  <param name="laser_z_hit" value="0.9"/>
  <param name="laser_z_short" value="0.05"/>
  <param name="laser_z_max" value="0.05"/>
  <param name="laser_z_rand" value="0.5"/>
  <param name="laser_sigma_hit" value="0.2"/>
  <param name="laser_lambda_short" value="0.1"/>
  <param name="laser_lambda_short" value="0.1"/>
  <param name="laser_model_type" value="likelihood_field"/>
  <!-- <param name="laser_model_type" value="beam"/> -->
 <param name="laser_min_range" value="0.5"/>
 <param name="laser_max_range" value="5"/>
  <param name="laser_likelihood_max_dist" value="2.0"/>
  <param name="update_min_d" value="0.1"/>
  <param name="update_min_a" value="0.5"/>
  <param name="resample_interval" value="1"/>
  <param name="transform_tolerance" value="0.1"/>
  <param name="recovery_alpha_slow" value="0.0"/>
  <param name="recovery_alpha_fast" value="0.0"/>
	  
	  
  <param name="initial_cov_xx" value="25."/>
  <param name="initial_cov_yy" value="25."/>
	  <param name="initial_cov_aa" value="0.25"/>
	  


</node>

</launch>
