min_particles: 100
max_particles: 5000

kld_err: 0.01
kld_z:   0.99

update_min_d: 0.2
update_min_a: 0.2

resample_interval: 2

transform_tolerance: 0.1

recovery_alpha_slow: 0.001
recovery_alpha_fast: 0.1

initial_pose_x: 0.0
initial_pose_y: 0.0
initial_pose_a: 0.0
initial_cov_xx: 0.25
initial_cov_yy: 0.25
initial_cov_aa: 0.07

gui_publish_rate: 10.0

save_pose_rate: 0.5

use_map_topic: true

first_map_only: false

laser_min_range: -1.0
laser_max_range: -1.0
laser_max_beams: 30

laser_z_hit:   0.95
laser_z_short: 0.1
laser_z_max:   0.05
laser_z_rand:  0.05

laser_sigma_hit:    0.2
laser_lambda_short: 0.1

laser_likelihood_max_dist: 2.0
laser_model_type: likelihood_field

odom_model_type: diff-corrected

odom_alpha1: 0.3
odom_alpha2: 0.3
odom_alpha3: 0.3
odom_alpha4: 0.3
odom_alpha5: 0.1

tf_broadcast: true
