From: Erik Andresen <erik@vontaene.de>
Date: Sun, 9 Apr 2017 10:04:10 +0000 (+0200)
Subject: gmapping tuning
X-Git-Url: https://defiant.homedns.org/gitweb/?a=commitdiff_plain;h=c90c025fe319ece51ad050ce1b22d7e2b639bf77;p=ros_wild_thumper.git

gmapping tuning
---

diff --git a/launch/gmapping.launch b/launch/gmapping.launch
index bf72788..8a053f5 100644
--- 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 -->