X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=launch%2Fgmapping.launch;h=8a053f5743fe7fbfe4cfaa5b7bcf91c3a44f258f;hp=bf72788729e87865a780f5cc526f1e2e449f6a54;hb=0338dec7b42d0454df844491f9404df5207e1382;hpb=2b175d4acc2bd3dff1cc1ca37ef0275661604859

diff --git a/launch/gmapping.launch b/launch/gmapping.launch
index bf72788..8a053f5 100644
--- a/launch/gmapping.launch
+++ b/launch/gmapping.launch
@@ -17,7 +17,7 @@
 		<!-- The maximum range of the sensor. If regions with no obstacles within the range of the sensor should appear as free -->
 		<param name="maxRange" value="10.0"/>
 		<!-- Minimum score for considering the outcome of the scan matching good. Can avoid jumping pose, default: 0.0, max: 600+ -->
-		<param name="minimumScore" value="40"/>
+		<param name="minimumScore" value="10"/>
 		<!-- Process a scan each time the robot translates this far -->
 		<param name="linearUpdate" value="0.30"/>
 		<!-- Process a scan each time the robot rotates this far -->