X-Git-Url: https://defiant.homedns.org/gitweb/?p=arm_ros_conn.git;a=blobdiff_plain;f=move_base.launch;h=cd1ef67c6869446f9ce8426a283926688ab2b214;hp=8d46da1af9245e6c5ae965ddb4c1808f69db840e;hb=15d0cdc058609e614c21cefef358829b46a77155;hpb=e22ba836d75ea0e028cb8c42463f14e6f9044d30

diff --git a/move_base.launch b/move_base.launch
index 8d46da1..cd1ef67 100644
--- a/move_base.launch
+++ b/move_base.launch
@@ -1,13 +1,15 @@
 <?xml version="1.0"?>
 <launch>
+	<node pkg="arm" type="arm_ros_conn.py" name="arm_ros_conn" output="screen" />
+
 	<!-- Run the map server -->
-	<node name="map_server" pkg="map_server" type="map_server" args="$(find arm)/config/map.pgm 0.05"/>
+	<node name="map_server" pkg="map_server" type="map_server" args="$(find arm)/config/map.png 0.01" />
 
 	<!-- Run AMCL -->
 	<include file="$(find amcl)/examples/amcl_diff.launch" />
 
 	<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
-		<param name="controller_frequency" value="2.0" />
+		<param name="controller_frequency" value="10.0" />
 		<rosparam file="$(find arm)/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
 		<rosparam file="$(find arm)/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
 		<rosparam file="$(find arm)/config/global_costmap_params.yaml" command="load" />