X-Git-Url: https://defiant.homedns.org/gitweb/?a=blobdiff_plain;ds=sidebyside;f=move_base.launch;h=cb2ce6e8a479177ce3e062b245a46a55100b466e;hb=839da311672219243b7f0bc3291b331f92a395c8;hp=37874d25746c145a513ed0be8e55f9417a63e202;hpb=37a6abd81e2df14d5cac07d99fa854f308355918;p=ros_roboint.git

diff --git a/move_base.launch b/move_base.launch
index 37874d2..cb2ce6e 100644
--- a/move_base.launch
+++ b/move_base.launch
@@ -1,6 +1,5 @@
+<?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 0.05"/>
 
@@ -8,6 +7,7 @@
 	<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" />