removed deprecated master tag

[ros_roboint.git] / move_base.launch

diff --git a/move_base.launch b/move_base.launch
index ff0425d0f290966fe5e73d4f27c5c7f0651f5fe5..cb2ce6e8a479177ce3e062b245a46a55100b466e 100644 (file)
--- a/move_base.launch
+++ b/move_base.launch
@@ -1,17 +1,17 @@
+<?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="$(find roboint)/config/local_costmap_params.yaml" command="load" />
                <rosparam file="$(find roboint)/config/global_costmap_params.yaml" command="load" />
+               <rosparam file="$(find roboint)/config/local_costmap_params.yaml" command="load" />
                <rosparam file="$(find roboint)/config/base_local_planner_params.yaml" command="load" />
        </node>
 </launch>