move_base/amcl: Increment rotational noise

[ros_wild_thumper.git] / launch / move_base.launch

diff --git a/launch/move_base.launch b/launch/move_base.launch
index c68413a02804cd4909f035c94f50e95a4a5e1897..55869892142fc79c96398b5cd4447336485f079d 100644 (file)
--- a/launch/move_base.launch
+++ b/launch/move_base.launch
@@ -16,9 +16,9 @@
                        <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="0.04" />
                        <!-- Specifies the expected noise in odometry's translation estimate from the rotational component of the robot's motion. -->