Launch file

The launch files are used to control a number of parameters that are used by the nodes in the system. These are:

• Map file location - This map will be used by particles and the sonar simulator to get ranges.
• Experiment file directory - This is where the experiment files are located (only needed if you are using sonar_exp.launch)
• Angle noise - The noise applied to angles. This is used by the particles and sonar when moving along the vector.
• Location noise - Noise applied to locations. Since many of the locations provided to the localiser are likely to be precise due to the form of the move files, it is necessary to apply noise.
• Range noise - Noise applied to ranges. Since sonar is not a perfect measurement tool, it is often noisy, so it is necessary to simulate this.
• Sonar step - The sonar will take a measurement every x degrees, where x is this value.
• Sonar maximum range - The range of the sonar above which data is no longer accurate
• Sonar minimum range - The range of the sonar below which data is no longer accurate
• Sonar sweep angle - The angle that the sonar scan sweeps through.

All of the noise parameters are used as the variance for gaussian distributions.

One file is used to launch the experiment simulator, and the other to launch the standard simulator. All the nodes required by each of the systems is launched by the respective launch file.