a

config/localisation_params.yaml

@@ -20,15 +20,15 @@ slam_toolbox:
     # or at the dock, but they are mutually exclusive, if pose is given
     # will use pose
     map_file_name: /home/pi/robot_ws/test
-    map_start_pose: [0.0, 0.0, 0.0]
-    map_start_at_dock: true
+    # map_start_pose: [0.0, 0.0, 0.0]
+    #map_start_at_dock: true
 
     debug_logging: false
     throttle_scans: 1
     transform_publish_period: 0.02 #if 0 never publishes odometry
     map_update_interval: 5.0
     resolution: 0.05
-    max_laser_range: 20.0 #for rastering images
+    max_laser_range: 8.0 #for rastering images
     minimum_time_interval: 0.5
     transform_timeout: 0.2
     tf_buffer_duration: 30.