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Tuning log

AMCL stack

The localization parameter file as it runs on the AMR — the odometry motion model, the particle filter, the laser likelihood field and global relocalization.

Versions

5

Parameters

58

across 1 nodes

Moved in range

18

42 held still

Period

19 Sept 2026

since 1 Sept 2026

What moved

2026-09-01-v1 → 2026-09-19-v1

amcl

ParameterMovesValues, oldest first
set_initial_pose3
  1. true2026-09-01-v1
  2. false2026-09-11-v1
  3. true2026-09-14-v1
  4. false2026-09-18-v1
sigma_hit3
  1. 0.22026-09-01-v1
  2. 0.052026-09-11-v1
  3. 0.22026-09-14-v1
  4. 0.052026-09-19-v1
alpha12
  1. 0.052026-09-01-v1
  2. 0.102026-09-14-v1
  3. 0.052026-09-19-v1
alpha52
  1. 0.12026-09-01-v1
  2. 0.42026-09-14-v1
  3. 0.12026-09-19-v1
selective_resampling2
  1. absent2026-09-01-v1
  2. true2026-09-14-v1
  3. false2026-09-18-v1
transform_tolerance2
  1. 1.02026-09-01-v1
  2. 0.52026-09-11-v1
  3. 0.052026-09-14-v1
alpha21
  1. 0.052026-09-01-v1
  2. 0.022026-09-19-v1
alpha31
  1. 0.12026-09-01-v1
  2. 0.052026-09-19-v1
alpha41
  1. 0.12026-09-01-v1
  2. 0.052026-09-19-v1
base_frame_id1
  1. base_footprint2026-09-01-v1
  2. base_link2026-09-11-v1
laser_min_range1
  1. absent2026-09-01-v1
  2. 0.82026-09-14-v1
pf_z1
  1. 0.992026-09-01-v1
  2. 3.02026-09-14-v1
robot_model_type1
  1. hmc_amcl::DifferentialMotionModel2026-09-01-v1
  2. hmc_amcl::OmniMotionModel2026-09-14-v1
scan_topic1
  1. /scan2026-09-01-v1
  2. /scan_merged_filtered2026-09-14-v1
update_min_a1
  1. 0.052026-09-01-v1
  2. 0.012026-09-14-v1
update_min_d1
  1. 0.052026-09-01-v1
  2. 0.012026-09-14-v1
z_max1
  1. 0.052026-09-01-v1
  2. absent2026-09-14-v1
z_short1
  1. 0.052026-09-01-v1
  2. absent2026-09-14-v1

18 parameters moved across 5 versions. 42 held still.

Compare two versions

Pick any two. Every version is also compared to the one before it on its own page.

Every version

  • added— not in the earlier version
  • removed— gone, or commented out
  • changed— the value moved
  • annotated— same value, different comment
Every recorded version, newest first, with what it changed relative to the version before it.
VersionDateParamsChangesNoteFile
2026-09-19-v158

~6#2

19Sep↓ yaml
2026-09-18-v158

~2

18Sep↓ yaml
2026-09-14-v158

+2−2~10

—↓ yaml
2026-09-11-v158

~4

AMCL Before Tuning↓ yaml
2026-09-01-v158baseline of this range—↓ yaml