X-Git-Url: https://defiant.homedns.org/gitweb/?a=blobdiff_plain;f=launch%2Fmove_base.launch;h=102f98dadb2639e63b42d40eadbc31c4e7a0f826;hb=4a05173d99461579ee20e47c15e49bf55201c0c6;hp=2ee4b5a953fbcc2749296487a0adc05aa6bfb823;hpb=80b61518513631afbd8acdcab2b23a53266080ca;p=ros_wild_thumper.git

diff --git a/launch/move_base.launch b/launch/move_base.launch
index 2ee4b5a..102f98d 100644
--- a/launch/move_base.launch
+++ b/launch/move_base.launch
@@ -8,22 +8,22 @@
 	<!-- Run AMCL -->
 	<group unless="$(arg nomap)">
 		<!-- Run the map server -->
-		<node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" unless="$(arg slam_gmapping)" />
+		<node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" output="screen" unless="$(arg slam_gmapping)" />
 
 		<include file="$(find amcl)/examples/amcl_diff.launch" unless="$(arg slam_gmapping)" />
 		<param name="amcl/base_frame_id" value="base_footprint" />
 	</group>
 
-	<node pkg="gmapping" type="slam_gmapping" name="slap_gmapping" output="screen" if="$(arg slam_gmapping)">
+	<node pkg="gmapping" type="slam_gmapping" name="slap_gmapping" if="$(arg slam_gmapping)">
 		<param name="scan" value="scan" />
 		<param name="delta" value="0.01" />
 		<param name="map_update_interval" value="30" />
 		<param name="linearUpdate" value="0.5" />
 		<param name="angularUpdate" value="0.25" />
-		<param name="xmin" value="-1.0"/>
-		<param name="ymin" value="-1.0"/>
-		<param name="xmax" value="1.0"/>
-		<param name="ymax" value="1.0"/>
+		<param name="xmin" value="-5.0"/>
+		<param name="ymin" value="-5.0"/>
+		<param name="xmax" value="5.0"/>
+		<param name="ymax" value="5.0"/>
 		<param name="odom_frame" value="odom"/>
 	</node>