pji_desktop_script/simulation/catkin_ws/src/Navigation/launch/amcl.launch

<?xml version='1.0' encoding='utf-8'?>
<launch>
<node name="amcl" output="screen" pkg="amcl" type="amcl">
  
  <param name="odom_model_type" value="diff" />
  <param name="odom_alpha5" value="0.1" />
  <param name="transform_tolerance" value="0.2" />
  <param name="gui_publish_rate" value="10.0" />
  <param name="laser_max_beams" value="30" />
  <param name="min_particles" value="500" />
  <param name="max_particles" value="5000" />
  <param name="kld_err" value="0.05" />
  <param name="kld_z" value="0.99" />
  <param name="odom_alpha1" value="0.2" />
  <param name="odom_alpha2" value="0.2" />
  
  
  <param name="odom_alpha3" value="0.8" />
  <param name="odom_alpha4" value="0.2" />
  <param name="laser_z_hit" value="0.5" />
  <param name="laser_z_short" value="0.05" />
  <param name="laser_z_max" value="0.05" />
  <param name="laser_z_rand" value="0.5" />
  <param name="laser_sigma_hit" value="0.2" />
  <param name="laser_lambda_short" value="0.1" />
  <param name="laser_lambda_short" value="0.1" />
  <param name="laser_model_type" value="likelihood_field" />
  
  <param name="laser_likelihood_max_dist" value="2.0" />
  <param name="update_min_d" value="0.2" />
  <param name="update_min_a" value="0.5" />

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

  <param name="resample_interval" value="1" />
  <param name="transform_tolerance" value="0.1" />
  <param name="recovery_alpha_slow" value="0.0" />
  <param name="recovery_alpha_fast" value="0.0" />

  <param name="initial_pose_x" value="0.25328280071991505" />
  <param name="initial_pose_y" value="-0.5090447876812273" />
  <param name="initial_pose_a" value="-1.5138750335598075" />
</node>
    
</launch>