X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=launch%2Fexploration.launch;fp=launch%2Fexploration.launch;h=a60826565602e09cd5f14e1fca2423e2d547fe75;hp=0000000000000000000000000000000000000000;hb=0bf5df6648a8d2ad791e2c0f95b83524eaded03a;hpb=2fa12e4c1e20c530f143c05c55dedf71a28c0a0f

diff --git a/launch/exploration.launch b/launch/exploration.launch
new file mode 100644
index 0000000..a608265
--- /dev/null
+++ b/launch/exploration.launch
@@ -0,0 +1,13 @@
+<?xml version="1.0"?>
+<launch>
+	<node pkg="frontier_exploration" type="explore_client" name="explore_client" output="screen"/>
+
+	<node pkg="frontier_exploration" type="explore_server" name="explore_server" output="screen" >
+		<param name="frequency" type="double" value="1.0"/>
+		<!-- Should be less than sensor range -->
+		<param name="goal_aliasing" type="double" value="2.0"/>
+
+		<rosparam file="$(find wild_thumper)/config/costmap_common_params.yaml" command="load" ns="explore_costmap" />
+		<rosparam file="$(find wild_thumper)/config/costmap_exploration.yaml" command="load" ns="explore_costmap" />
+	</node>
+</launch>