amcl:
  ros__parameters:
    use_sim_time: false
    alpha1: 0.20
    alpha2: 0.20
    alpha3: 0.20
    alpha4: 0.20
    alpha5: 0.20
    base_frame_id: base_footprint
    global_frame_id: map
    odom_frame_id: odom
    scan_topic: /scan
    laser_model_type: likelihood_field
    laser_min_range: 0.15
    laser_max_range: 20.0
    laser_likelihood_max_dist: 2.0
    max_beams: 60
    min_particles: 500
    max_particles: 2000
    pf_err: 0.05
    pf_z: 0.99
    resample_interval: 1
    robot_model_type: nav2_amcl::DifferentialMotionModel
    save_pose_rate: 0.5
    sigma_hit: 0.2
    tf_broadcast: true
    transform_tolerance: 0.5
    update_min_a: 0.15
    update_min_d: 0.10
    z_hit: 0.5
    z_max: 0.05
    z_rand: 0.5
    z_short: 0.05

amcl_map_client:
  ros__parameters:
    use_sim_time: false

amcl_rclcpp_node:
  ros__parameters:
    use_sim_time: false
