X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=launch%2Fexploration.launch;h=4df3aee234597a87baba7087f398d80195b0da0e;hp=a60826565602e09cd5f14e1fca2423e2d547fe75;hb=e5d50b6babe986a2dcd4eff47a9600a6014e5d96;hpb=0bf5df6648a8d2ad791e2c0f95b83524eaded03a

diff --git a/launch/exploration.launch b/launch/exploration.launch
index a608265..4df3aee 100644
--- a/launch/exploration.launch
+++ b/launch/exploration.launch
@@ -2,10 +2,10 @@
 <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"/>
+	<node pkg="frontier_exploration" type="explore_server" name="explore_server" output="screen">
+		<param name="frequency" type="double" value="2.0"/>
 		<!-- Should be less than sensor range -->
-		<param name="goal_aliasing" type="double" value="2.0"/>
+		<param name="goal_aliasing" type="double" value="1.0"/>
 
 		<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" />