<launch>
  <!-- Arguments -->
  <arg name="scan_topic"     default="scan"/>
  <arg name="initial_pose_x" default="-2.0"/>
  <arg name="initial_pose_y" default="-0.5"/>
  <arg name="initial_pose_a" default="0.0"/>

  <!-- EMCL -->
  <node pkg="emcl2" type="emcl2_node" name="emcl2_node" output="screen">

    <param name="odom_freq"                 value="20"/>
    <param name="num_particles"             value="500"/>

    <param name="odom_frame_id"             value="odom"/>
    <param name="footprint_frame_id"        value="base_footprint"/>
    <param name="base_frame_id"             value="base_link"/>

    <param name="initial_pose_x"            value="$(arg initial_pose_x)"/>
    <param name="initial_pose_y"            value="$(arg initial_pose_y)"/>
    <param name="initial_pose_a"            value="$(arg initial_pose_a)"/>

    <param name="odom_fw_dev_per_fw"       value="0.19"/>
    <param name="odom_fw_dev_per_rot"      value="0.0001"/>
    <param name="odom_rot_dev_per_fw"      value="0.13"/>
    <param name="odom_rot_dev_per_rot"     value="0.2"/>

    <param name="laser_likelihood_max_dist" value="0.2"/>

    <param name="alpha_threshold" value="0.5"/>
    <param name="open_space_threshold" value="0.05"/>

    <param name="expansion_radius_position" value="0.1"/>
    <param name="expansion_radius_orientation" value="0.2"/>

    <param name="range_threshold" value="0.3"/>

    <remap from="scan"                      to="$(arg scan_topic)"/>
    <param name="laser_min_range"           value="0.0"/>
    <param name="laser_max_range"           value="100000000.0"/>

    <param name="scan_increment"           value="1"/>

  </node>
</launch>