From: Erik Andresen <erik@vontaene.de>
Date: Sun, 17 Sep 2017 09:04:00 +0000 (+0200)
Subject: amcl: increase translation error
X-Git-Url: https://defiant.homedns.org/gitweb/?a=commitdiff_plain;h=da459c585c5e76c08dab0ef8d31be63a95e99ed1;p=ros_wild_thumper.git

amcl: increase translation error
---

diff --git a/launch/move_base.launch b/launch/move_base.launch
index 9463a0c..c68413a 100644
--- a/launch/move_base.launch
+++ b/launch/move_base.launch
@@ -20,7 +20,7 @@
 			<!-- Specifies the expected noise in odometry's rotation estimate from translational component of the robot's motion. -->
 			<param name="odom_alpha2" value="0.00001" />
 			<!-- 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. -->