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[ros_wild_thumper.git] / launch / exploration.launch
1 <?xml version="1.0"?>
2 <launch>
3         <node pkg="frontier_exploration" type="explore_client" name="explore_client" output="screen"/>
4
5         <node pkg="frontier_exploration" type="explore_server" name="explore_server" output="screen">
6                 <param name="frequency" type="double" value="10.0"/>
7                 <!-- Should be less than sensor range -->
8                 <param name="goal_aliasing" type="double" value="1.0"/>
9
10                 <rosparam file="$(find wild_thumper)/config/costmap_common_params.yaml" command="load" ns="explore_costmap" />
11                 <rosparam file="$(find wild_thumper)/config/costmap_exploration.yaml" command="load" ns="explore_costmap" />
12         </node>
13 </launch>