From c90c025fe319ece51ad050ce1b22d7e2b639bf77 Mon Sep 17 00:00:00 2001
From: Erik Andresen <erik@vontaene.de>
Date: Sun, 9 Apr 2017 12:04:10 +0200
Subject: [PATCH] gmapping tuning

---
 launch/gmapping.launch | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

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 -->
-- 
2.39.5