X-Git-Url: https://defiant.homedns.org/gitweb/?a=blobdiff_plain;ds=sidebyside;f=move_base.launch;h=5f6200710ea0a90b06b4dbd9285d366207037a72;hb=416ac5d02482b1f9ca9534f1eccf067a585ecf86;hp=6c750989ee4332ffad6e245d7a3279ef4179af6e;hpb=7ed26bb9678da05ebd73e6299b90908760a04780;p=ros_roboint.git

diff --git a/move_base.launch b/move_base.launch
index 6c75098..5f62007 100644
--- a/move_base.launch
+++ b/move_base.launch
@@ -1,13 +1,15 @@
+<?xml version="1.0"?>
 <launch>
 	<master auto="start"/>
 
 	<!-- Run the map server -->
-	<node name="map_server" pkg="map_server" type="map_server" args="$(find roboint)/config/map.pgm 0.5"/>
+	<node name="map_server" pkg="map_server" type="map_server" args="$(find roboint)/config/map.pgm 0.05"/>
 
 	<!-- Run AMCL -->
 	<include file="$(find amcl)/examples/amcl_diff.launch" />
 
 	<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
+		<param name="controller_frequency" value="4.0" />
 		<rosparam file="$(find roboint)/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
 		<rosparam file="$(find roboint)/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
 		<rosparam file="$(find roboint)/config/global_costmap_params.yaml" command="load" />