From: Erik Andresen <erik@vontaene.de>
Date: Sun, 22 Oct 2017 06:26:59 +0000 (+0200)
Subject: move_base/amcl: Increment rotational noise
X-Git-Url: https://defiant.homedns.org/gitweb/?a=commitdiff_plain;h=d8926faf31887ca0fb7f62ae9b01b9a7459dc2c5;p=ros_wild_thumper.git

move_base/amcl: Increment rotational noise
---

diff --git a/launch/move_base.launch b/launch/move_base.launch
index c68413a..5586989 100644
--- a/launch/move_base.launch
+++ b/launch/move_base.launch
@@ -16,9 +16,9 @@
 			<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="0.04" />
 			<!-- Specifies the expected noise in odometry's translation estimate from the rotational component of the robot's motion. -->