X-Git-Url: https://defiant.homedns.org/gitweb/?a=blobdiff_plain;ds=sidebyside;f=launch%2Fmove_base.launch;h=c68413a02804cd4909f035c94f50e95a4a5e1897;hb=a7bf130f7e0ea44d8ba7d02d1fa1310b658a9d87;hp=eb425c3c10e2ca54786551d11630a495284c007a;hpb=4679643eca8f2ba0fb228bf8d0af0c9d0076624c;p=ros_wild_thumper.git

diff --git a/launch/move_base.launch b/launch/move_base.launch
index eb425c3..c68413a 100644
--- a/launch/move_base.launch
+++ b/launch/move_base.launch
@@ -20,7 +20,7 @@
 			<!-- Specifies the expected noise in odometry's rotation estimate from translational component of the robot's motion. -->
 			<param name="odom_alpha2" value="0.00001" />
 			<!-- Specifies the expected noise in odometry's translation estimate from the translational component of the robot's motion. -->
-			<param name="odom_alpha3" value="0.03" />
+			<param name="odom_alpha3" value="0.04" />
 			<!-- Specifies the expected noise in odometry's translation estimate from the rotational component of the robot's motion. -->
 			<param name="odom_alpha4" value="0.001" />
 			<!-- How many evenly-spaced beams in each scan to be used when updating the filter. -->
@@ -36,7 +36,7 @@
 
 	<include file="$(find wild_thumper)/launch/gmapping.launch" if="$(arg slam_gmapping)" />
 
-	<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
+	<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen" clear_params="true">
 		<param name="base_local_planner" value="$(arg base_local_planner)"/>
 		<param name="controller_frequency" value="10.0" />
 		<rosparam file="$(find wild_thumper)/config/costmap_common_params.yaml" command="load" ns="global_costmap" />