odom_model_type: diff
transform_tolerance: 0.5 #0.2
gui_publish_rate: 10.0
laser_max_beams: 30
min_particles: 100
max_particles: 4000
kld_err: 0.05
kld_z: 0.99
odom_alpha1: 0.2
odom_alpha2: 0.2
odom_alpha3: 0.2
odom_alpha4: 0.2
laser_z_hit: 0.5
laser_z_short: 0.05
laser_z_max: 0.05
laser_z_rand: 0.5
laser_sigma_hit: 0.2
laser_lambda_short: 0.1
laser_lambda_short: 0.1
laser_model_type: likelihood_field
laser_likelihood_max_dist: 2.0
update_min_d: 0.2
update_min_a: 0.5
global_frame_id: map
odom_frame_id: odom
base_frame_od: base_footprint
resample_interval: 1
recovery_alpha_slow: 0.0
recovery_alpha_fast: 0.0

reset_th_alpha: 0.003
