X-Git-Url: https://defiant.homedns.org/gitweb/?a=blobdiff_plain;f=launch%2Fmove_base.launch;h=55869892142fc79c96398b5cd4447336485f079d;hb=e1f7a5148b9999b57a91c1ddb244397bf841de7e;hp=9463a0c8cad8972f98b891ad35aa32c30efaf446;hpb=90d0c10ca262d4a12c4bc4cc20bc90c86302fb7b;p=ros_wild_thumper.git

diff --git a/launch/move_base.launch b/launch/move_base.launch
index 9463a0c..5586989 100644
--- a/launch/move_base.launch
+++ b/launch/move_base.launch
@@ -16,11 +16,11 @@
 			<param name="base_frame_id" value="base_footprint" />
 			<param name="odom_model_type" value="diff-corrected" />
 			<!-- Specifies the expected noise in odometry's rotation estimate from the rotational component of the robot's motion. -->
-			<param name="odom_alpha1" value="0.00001" />
+			<param name="odom_alpha1" value="0.001" />
 			<!-- Specifies the expected noise in odometry's rotation estimate from translational component of the robot's motion. -->
-			<param name="odom_alpha2" value="0.00001" />
+			<param name="odom_alpha2" value="0.001" />
 			<!-- 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. -->