How to change the default number of particles in gmapping launch file?

I would like to ask is this is the correct coding to change the number of particles of the gmapping package in launch file?

<launch>
  <!-- Arguments -->
  <arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/>
  <arg name="configuration_basename" default="turtlebot3_lds_2d.lua"/>
  <arg name="set_base_frame" default="base_footprint"/>
  <arg name="set_odom_frame" default="odom"/>
  <arg name="set_map_frame"  default="map"/>

  <!-- Gmapping -->
  <node pkg="gmapping" type="slam_gmapping" name="turtlebot3_slam_gmapping" output="screen">
    <param name="base_frame" value="$(arg set_base_frame)"/>
    <param name="odom_frame" value="$(arg set_odom_frame)"/>
    <param name="map_frame"  value="$(arg set_map_frame)"/>
    <param name="particles"  value="100"/>
    <rosparam command="load" file="$(find turtlebot3_slam)/config/gmapping_params.yaml" />
  </node>
</launch>

Im adding <param name="particles" value="100"/> as above. Thank you.

Solution

Yes it is correct. The coding that you have done in the launch file is the correct code. But, you also can change the number of particles in the file="$(find turtlebot3_slam)/config/gmapping_params.yaml"