3 <node pkg="frontier_exploration" type="explore_client" name="explore_client" output="screen"/>
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"/>
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" />