default_mapping.launch

<?xml version="1.0"?>
<launch>
  <node pkg="hector_mapping" type="hector_mapping" name="hector_mapping" output="screen">
    
    <param name="pub_map_odom_transform" value="true"/>
    <param name="map_frame" value="map"/> 
    <param name="base_frame" value="base_frame"/> 
    <param name="odom_frame" value="base_frame"/>
    
    <param name="use_tf_scan_transformation" value="true"/>
    <param name="use_tf_pose_start_estimate" value="false"/>
    
    <param name="map_resolution" value="0.050"/>
    <param name="map_size" value="2048"/>
    <param name="map_start_x" value="0.5"/>
    <param name="map_start_y" value="0.5" />
    <param name="map_pub_period" value="1.0" />
    <param name="map_multi_res_levels" value="2" />
    
    <param name="update_factor_free" value="0.4"/>
    <param name="update_factor_occupied" value="0.7" />    
    <param name="map_update_distance_thresh" value="0.2"/>
    <param name="map_update_angle_thresh" value="0.9" />
    <param name="laser_max_dist" value="6" />
    <param name="laser_z_min_value" value = "-1.0" />
    <param name="laser_z_max_value" value = "1.0" />
    
    <param name="advertise_map_service" value="true"/>
    <param name="scan_subscriber_queue_size" value="5"/>
    <param name="scan_topic" value="scan"/>
    <param name="tf_map_scanmatch_transform_frame_name" value="scanmatcher_frame" />
  </node>
</launch>