exploration tuning

[ros_wild_thumper.git] / launch / move_base.launch

diff --git a/launch/move_base.launch b/launch/move_base.launch
index 989cedcfb2781e0087d1e90381732b5a86ea1ecf..2ee4b5a953fbcc2749296487a0adc05aa6bfb823 100644 (file)
--- a/launch/move_base.launch
+++ b/launch/move_base.launch
@@ -3,6 +3,7 @@
        <arg name="slam_gmapping" default="false" />
        <arg name="map_file" default="$(find wild_thumper)/data/map.yaml" />
        <arg name="nomap" default="false" />
+       <arg name="base_local_planner" default="base_local_planner/TrajectoryPlannerROS"/> <!-- base_local_planner/TrajectoryPlannerROS || dwa_local_planner/DWAPlannerROS -->
 
        <!-- Run AMCL -->
        <group unless="$(arg nomap)">
@@ -27,6 +28,8 @@
        </node>
 
        <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
+               <param name="base_local_planner" value="$(arg base_local_planner)"/>
+               <param name="controller_frequency" value="10.0" />
                <rosparam file="$(find wild_thumper)/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
                <rosparam file="$(find wild_thumper)/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
                <rosparam file="$(find wild_thumper)/config/global_costmap_params.yaml" command="load" unless="$(arg nomap)" />