navigation stack tuning

[ros_wild_thumper.git] / launch / exploration.launch

diff --git a/launch/exploration.launch b/launch/exploration.launch
new file mode 100644 (file)
index 0000000..a608265
--- /dev/null
+++ b/launch/exploration.launch
@@ -0,0 +1,13 @@
+<?xml version="1.0"?>
+<launch>
+       <node pkg="frontier_exploration" type="explore_client" name="explore_client" output="screen"/>
+
+       <node pkg="frontier_exploration" type="explore_server" name="explore_server" output="screen" >
+               <param name="frequency" type="double" value="1.0"/>
+               <!-- Should be less than sensor range -->
+               <param name="goal_aliasing" type="double" value="2.0"/>
+
+               <rosparam file="$(find wild_thumper)/config/costmap_common_params.yaml" command="load" ns="explore_costmap" />
+               <rosparam file="$(find wild_thumper)/config/costmap_exploration.yaml" command="load" ns="explore_costmap" />
+       </node>
+</launch>