From 5ea97f220bec1bb64e6f9cb45beddc0ed57b4b59 Mon Sep 17 00:00:00 2001
From: Rodrigo Silverio <37584468+rsilverioo@users.noreply.github.com>
Date: Wed, 22 Sep 2021 11:27:02 +0200
Subject: [PATCH] Fix minor error in amcl.launch

The "kld_err" is initialized twice, and with the wrong values. I guess you wanted to initialize the "kld_error" parameter to 0.01 and "kld_z" to 0.99.
---
 diffbot_navigation/launch/amcl.launch | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/diffbot_navigation/launch/amcl.launch b/diffbot_navigation/launch/amcl.launch
index b65e633c..2af563aa 100644
--- a/diffbot_navigation/launch/amcl.launch
+++ b/diffbot_navigation/launch/amcl.launch
@@ -18,7 +18,7 @@
     <param name="min_particles"             value="500"/>
     <param name="max_particles"             value="5000"/>
     <param name="kld_err"                   value="0.02"/>
-    <param name="kld_err"                   value="0.99"/>
+    <param name="kld_z"                     value="0.99"/>
     <param name="update_min_d"              value="0.15"/>
     <param name="update_min_a"              value="0.15"/>
     <param name="resample_interval"         value="1"/>
@@ -55,4 +55,4 @@
     <param name="global_frame_id"           value="$(arg global_frame_id)"/>
 
   </node>
-</launch>
\ No newline at end of file
+</launch>