tune slam gmapping

[ros_wild_thumper.git] / launch / move_base.launch

diff --git a/launch/move_base.launch b/launch/move_base.launch
index 3c1880d8d4ae09f3cb55a9c49ae91ed4d6db21db..88705b986a889311881e490c8ca7496b26754f96 100644 (file)
--- a/launch/move_base.launch
+++ b/launch/move_base.launch
@@ -14,23 +14,7 @@
                <param name="amcl/base_frame_id" value="base_footprint" />
        </group>
 
-       <node pkg="gmapping" type="slam_gmapping" name="slap_gmapping" if="$(arg slam_gmapping)">
-               <param name="scan" value="scan" />
-               <param name="delta" value="0.01" />
-               <param name="map_update_interval" value="5.0" />
-               <param name="linearUpdate" value="0.5" />
-               <param name="angularUpdate" value="0.25" />
-               <param name="xmin" value="-5.0"/>
-               <param name="ymin" value="-5.0"/>
-               <param name="xmax" value="5.0"/>
-               <param name="ymax" value="5.0"/>
-               <param name="odom_frame" value="odom"/>
-               <param name="maxUrange" value="6.0"/>
-               <param name="maxRange" value="8.0"/>
-               <param name="minimumScore" value="200"/>
-               <param name="linearUpdate" value="0.5"/>
-               <param name="particles" value="80"/>
-       </node>
+       <include file="$(find wild_thumper)/launch/gmapping.launch" if="$(arg slam_gmapping)" />
 
        <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
                <param name="base_local_planner" value="$(arg base_local_planner)"/>