fix simulation

[ros_wild_thumper.git] / launch / move_base.launch

diff --git a/launch/move_base.launch b/launch/move_base.launch
index 102f98dadb2639e63b42d40eadbc31c4e7a0f826..3c1880d8d4ae09f3cb55a9c49ae91ed4d6db21db 100644 (file)
--- a/launch/move_base.launch
+++ b/launch/move_base.launch
@@ -17,7 +17,7 @@
        <node pkg="gmapping" type="slam_gmapping" name="slap_gmapping" if="$(arg slam_gmapping)">
                <param name="scan" value="scan" />
                <param name="delta" value="0.01" />
-               <param name="map_update_interval" value="30" />
+               <param name="map_update_interval" value="5.0" />
                <param name="linearUpdate" value="0.5" />
                <param name="angularUpdate" value="0.25" />
                <param name="xmin" value="-5.0"/>
@@ -25,6 +25,11 @@
                <param name="xmax" value="5.0"/>
                <param name="ymax" value="5.0"/>
                <param name="odom_frame" value="odom"/>
+               <param name="maxUrange" value="6.0"/>
+               <param name="maxRange" value="8.0"/>
+               <param name="minimumScore" value="200"/>
+               <param name="linearUpdate" value="0.5"/>
+               <param name="particles" value="80"/>
        </node>
 
        <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">