• launch/amcl.launch
  • • prefix [default: robot_]
    • x_init_pose [default: 0]
    • y_init_pose [default: 0]
    • z_init_pose [default: 0]
    • init_yaw [default: 0]
    • scan_topic [default: front_laser/scan]
    • map_topic [default: map]
    • global_frame [default: $(arg prefix)map]
    • odom_frame [default: $(arg prefix)odom]
    • base_frame [default: $(arg prefix)base_footprint]
    • odom_model_type [default: diff]
• launch/gmapping.launch
  • To save the map: rosrun map_server map_saver -f mymap
  • • id_robot [default: robot]
    • prefix [default: $(arg id_robot)_]
    • scan_topic [default: front_laser/scan]
    • map_frame [default: $(arg prefix)map]
    • odom_frame [default: $(arg prefix)odom]
    • base_frame [default: $(arg prefix)base_link]
    • resolution [default: 0.02]
    • particles [default: 30]
• launch/imu_filter.launch
  • • prefix [default: robot_]
    • imu_raw [default: imu/data_raw]
    • imu_mag [default: imu/mag]
    • use_mag [default: false]
    • imu_filtered [default: imu/data]
    • imu_link [default: $(arg prefix)imu_link]
• launch/map_saver.launch
  • • map_name [default: map]
    • map_topic [default: map]
    • destination_folder [default: $(optenv HOME /home/summit)]
• launch/map_server.launch
  • • map_file [default: $(find rb1_base_localization)/maps/empty/map_empty.yaml]
    • prefix [default: robot_]
    • frame_id [default: $(arg prefix)map]
• launch/robot_localization_odom.launch
• launch/robot_localization_odom_6d.launch
• launch/throttle_debug.launch

No questions yet, you can ask one on Robotics Stack Exchange.