navigation tuning

[ros_roboint.git] / scripts / robo_explorer.py

diff --git a/scripts/robo_explorer.py b/scripts/robo_explorer.py
index 83cc48b70b3e40533820de40a8f2c4fcb26c6066..56e07d16b6a726ea6b58634d8400608a3ccbf29b 100755 (executable)
--- a/scripts/robo_explorer.py
+++ b/scripts/robo_explorer.py
@@ -31,8 +31,8 @@ class RoboExplorer:
                scan.header.stamp = current_time
                scan.header.frame_id = "forward_sensor"
                scan.radiation_type = 0
-               scan.field_of_view = 60*pi/180
-               scan.min_range = 0.0
+               scan.field_of_view = 30*pi/180
+               scan.min_range = 0.04
                scan.max_range = 4.0
                scan.range = msg.d1/100.0
                self.pub_sonar.publish(scan)