
# Desc: Player configuration file; useful for testing abstract devices.
# Date: 18 Apr 2003
# CVS: $Id: test_localize.cfg 1615 2003-07-15 21:48:20Z gerkey $


position:0
(
  driver "passthrough"
  host "localhost"
  port 6665 
  index 0
)

laser:0
(
  driver "passthrough"
  host "localhost"
  port 6665 
  index 0
)

localize:0
(
  driver "amcl"
  position_index 0
  laser_index 0
  #map_file "sal2.pnm"
  map_file "cave.pnm"
  map_scale 0.03
  map_negate 1
  pf_min_samples 100
  pf_max_samples 100000
  #init_pose [0 0 0]
  #init_pose_var [1 0.5 3]
  #enable_gui 1
  alwayson 1
)

