amcl.launch

 <node pkg="amcl" type="amcl" name="amcl" machine="amcl-machine">
    <param name="odom_alpha1" value="5"/> <!-- dtheta -> x -->
    <param name="odom_alpha2" value="10"/> <!-- dx -> theta -->
    <param name="odom_alpha3" value="5"/> <!-- dx -> x -->
    <param name="odom_alpha4" value="5"/> <!-- dtheta -> theta -->
    <param name="odom_alpha5" value="5"/> <!-- slip -->
    <param name="update_min_d" value="0.05"/>
    <param name="update_min_a" value="0.1"/>
    <!-- for AmclNode::uniformPoseGenerator bug -->
    <param name="recovery_alpha_slow" value="0.000"/>
    <param name="recovery_alpha_fast" value="0.000"/>
  </node>