AMCL Tuning

Compared to the default parameters of AMCL we made the following changes to improve localization performance:

1. Used the beam laser_model_type instead of the default “likelihood_field” laser_model_type

2. Reduced the z_hit Gaussian model sigma(sigma_hit) to 0.1

3. Set the beam laser_model_type weights to z_hit: 0.5, z_max: 0.05, z_rand: 0.4 and z_short: 0.05

4. Increased the max_beams parameter from 60 to 360 to allow for more detailed features to be used by AMCL

5. Decreased all odometry process noise from 0.2 to 0.1 to allow higher confidence in the robot’s wheel odometry