dwm1000:

[ros_wild_thumper.git] / launch / move_base.launch

diff --git a/launch/move_base.launch b/launch/move_base.launch
index eb425c3c10e2ca54786551d11630a495284c007a..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. -->
@@ -36,7 +36,7 @@
 
        <include file="$(find wild_thumper)/launch/gmapping.launch" if="$(arg slam_gmapping)" />
 
-       <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
+       <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen" clear_params="true">
                <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" />