fix velocity message in robo_explorer

[ros_roboint.git] / move_base.launch

diff --git a/move_base.launch b/move_base.launch
index 6c750989ee4332ffad6e245d7a3279ef4179af6e..5f6200710ea0a90b06b4dbd9285d366207037a72 100644 (file)
--- a/move_base.launch
+++ b/move_base.launch
@@ -1,13 +1,15 @@
+<?xml version="1.0"?>
 <launch>
        <master auto="start"/>
 
        <!-- Run the map server -->
-       <node name="map_server" pkg="map_server" type="map_server" args="$(find roboint)/config/map.pgm 0.5"/>
+       <node name="map_server" pkg="map_server" type="map_server" args="$(find roboint)/config/map.pgm 0.05"/>
 
        <!-- 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="4.0" />
                <rosparam file="$(find roboint)/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
                <rosparam file="$(find roboint)/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
                <rosparam file="$(find roboint)/config/global_costmap_params.yaml" command="load" />