base_local_planner: Reduce acc_lim_x for less shaky acceleration

[ros_wild_thumper.git] / launch / move_base.launch

diff --git a/launch/move_base.launch b/launch/move_base.launch
index 9463a0c8cad8972f98b891ad35aa32c30efaf446..55869892142fc79c96398b5cd4447336485f079d 100644 (file)
--- a/launch/move_base.launch
+++ b/launch/move_base.launch
@@ -16,11 +16,11 @@
                        <param name="base_frame_id" value="base_footprint" />
                        <param name="odom_model_type" value="diff-corrected" />
                        <!-- Specifies the expected noise in odometry's rotation estimate from the rotational component of the robot's motion. -->
-                       <param name="odom_alpha1" value="0.00001" />
+                       <param name="odom_alpha1" value="0.001" />
                        <!-- Specifies the expected noise in odometry's rotation estimate from translational component of the robot's motion. -->
-                       <param name="odom_alpha2" value="0.00001" />
+                       <param name="odom_alpha2" value="0.001" />
                        <!-- Specifies the expected noise in odometry's translation estimate from the translational component of the robot's motion. -->
-                       <param name="odom_alpha3" value="0.03" />
+                       <param name="odom_alpha3" value="0.04" />
                        <!-- Specifies the expected noise in odometry's translation estimate from the rotational component of the robot's motion. -->
                        <param name="odom_alpha4" value="0.001" />
                        <!-- How many evenly-spaced beams in each scan to be used when updating the filter. -->