Adapt navigation config to more trustworthy IMU

[ros_wild_thumper.git] / launch / move_base.launch

diff --git a/launch/move_base.launch b/launch/move_base.launch
index f2fd7330fcbd6d14dc28ab36f0f5cc832fbf315e..9c6755d01a66ed35711e20b0aefe6af19e26d08c 100644 (file)
--- a/launch/move_base.launch
+++ b/launch/move_base.launch
@@ -25,9 +25,9 @@
                        <!-- How many evenly-spaced beams in each scan to be used when updating the filter. -->
                        <param name="laser_max_beams" value="50" />
                        <!-- Exponential decay rate for the slow average weight filter, used in deciding when to recover by adding random poses. -->
-                       <param name="recovery_alpha_slow" value="0.01" />
+                       <param name="recovery_alpha_slow" value="0.001" />
                        <!-- Exponential decay rate for the fast average weight filter, used in deciding when to recover by adding random poses. -->
-                       <param name="recovery_alpha_fast" value="0.2" />
+                       <param name="recovery_alpha_fast" value="0.1" />
                        <!-- Minimum allowed number of particles. -->
                        <param name="min_particles" value="100" />
                </group>