X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=launch%2Fexploration.launch;h=6d8e4de71e126dd123f52ecbde5518c69e0de6a9;hp=0c81ea065a9b1570ed06e5070577a013703d5ab9;hb=a5339295c0624ca63bdef72838149f25117dbdf0;hpb=80b61518513631afbd8acdcab2b23a53266080ca

diff --git a/launch/exploration.launch b/launch/exploration.launch
index 0c81ea0..6d8e4de 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="2.0"/>
+	<node pkg="frontier_exploration" type="explore_server" name="explore_server" output="screen">
+		<param name="frequency" type="double" value="10.0"/>
 		<!-- 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" />