From 1786450d8edd8785ecfdfb05bbc9ba9889dc4d6c Mon Sep 17 00:00:00 2001
From: Matthijs van der Burgh <MatthijsBurgh@outlook.com>
Date: Sat, 6 Jul 2024 15:00:50 +0200
Subject: [PATCH] (localization) optimized by tuning

---
 .../world_modeling/world_model_plugin_localization.yaml     | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/parameters/world_modeling/world_model_plugin_localization.yaml b/parameters/world_modeling/world_model_plugin_localization.yaml
index 16094aa7..5fa5bf89 100644
--- a/parameters/world_modeling/world_model_plugin_localization.yaml
+++ b/parameters/world_modeling/world_model_plugin_localization.yaml
@@ -17,16 +17,16 @@ parameters:
     recovery_alpha_fast: 0 #0.1
     cell_size_x: 0.5
     cell_size_y: 0.5
-    cell_size_theta: 0.1745
+    cell_size_theta: 0.1
   initial_pose:
     x: $(env ROBOT_INIT_X 0.0)
     y: $(env ROBOT_INIT_Y 0.0)
     rz: $(env ROBOT_INIT_PHI 0.0)
   laser_model:
     topic: /hero/base_laser/scan
-    num_beams: 100
+    num_beams: 150
     z_hit: 0.95
-    sigma_hit: 0.2
+    sigma_hit: 0.15
     z_short: 0.1
     z_max: 0.05
     z_rand: 0.05