frontier exploration fixes

[ros_wild_thumper.git] / launch / exploration.launch

diff --git a/launch/exploration.launch b/launch/exploration.launch
index 0c81ea065a9b1570ed06e5070577a013703d5ab9..4df3aee234597a87baba7087f398d80195b0da0e 100644 (file)
--- a/launch/exploration.launch
+++ b/launch/exploration.launch
@@ -2,10 +2,10 @@
 <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" >
+       <node pkg="frontier_exploration" type="explore_server" name="explore_server" output="screen">
                <param name="frequency" type="double" value="2.0"/>
                <!-- Should be less than sensor range -->
-               <param name="goal_aliasing" type="double" value="2.0"/>
+               <param name="goal_aliasing" type="double" value="1.0"/>
 
                <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" />