gmapping tuning

diff --git a/launch/gmapping.launch b/launch/gmapping.launch
index bf72788729e87865a780f5cc526f1e2e449f6a54..8a053f5743fe7fbfe4cfaa5b7bcf91c3a44f258f 100644 (file)
--- a/launch/gmapping.launch
+++ b/launch/gmapping.launch
@@ -17,7 +17,7 @@
                <!-- The maximum range of the sensor. If regions with no obstacles within the range of the sensor should appear as free -->
                <param name="maxRange" value="10.0"/>
                <!-- Minimum score for considering the outcome of the scan matching good. Can avoid jumping pose, default: 0.0, max: 600+ -->
-               <param name="minimumScore" value="40"/>
+               <param name="minimumScore" value="10"/>
                <!-- Process a scan each time the robot translates this far -->
                <param name="linearUpdate" value="0.30"/>
                <!-- Process a scan each time the robot rotates this far -->