X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=launch%2Fgmapping.launch;h=a8a75d41eb657d7de3dd484b18f54ebac0451252;hp=bf72788729e87865a780f5cc526f1e2e449f6a54;hb=2f194b3fe82009a77b79021f0c57e6ca55c1706f;hpb=2b175d4acc2bd3dff1cc1ca37ef0275661604859

diff --git a/launch/gmapping.launch b/launch/gmapping.launch
index bf72788..a8a75d4 100644
--- a/launch/gmapping.launch
+++ b/launch/gmapping.launch
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <launch>
 	<arg name="use_sim_time" default="false" />
-	<param name="/use_sim_time" value="$(arg use_sim_time)"/>
+	<param name="/use_sim_time" value="$(arg use_sim_time)" if="$(arg use_sim_time)"/>
 
 	<node pkg="gmapping" type="slam_gmapping" name="slam_gmapping">
 		<param name="scan" value="scan" />
@@ -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 -->