X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=launch%2Fmove_base.launch;h=2ee4b5a953fbcc2749296487a0adc05aa6bfb823;hp=a046e6eaf60522b917730cf8d03bd001e3461702;hb=80b61518513631afbd8acdcab2b23a53266080ca;hpb=0bf5df6648a8d2ad791e2c0f95b83524eaded03a

diff --git a/launch/move_base.launch b/launch/move_base.launch
index a046e6e..2ee4b5a 100644
--- a/launch/move_base.launch
+++ b/launch/move_base.launch
@@ -3,7 +3,7 @@
 	<arg name="slam_gmapping" default="false" />
 	<arg name="map_file" default="$(find wild_thumper)/data/map.yaml" />
 	<arg name="nomap" default="false" />
-	<arg name="base_local_planner" default="dwa_local_planner/DWAPlannerROS"/> <!-- base_local_planner/TrajectoryPlannerROS || dwa_local_planner/DWAPlannerROS -->
+	<arg name="base_local_planner" default="base_local_planner/TrajectoryPlannerROS"/> <!-- base_local_planner/TrajectoryPlannerROS || dwa_local_planner/DWAPlannerROS -->
 
 	<!-- Run AMCL -->
 	<group unless="$(arg nomap)">
@@ -29,6 +29,7 @@
 
 	<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
 		<param name="base_local_planner" value="$(arg base_local_planner)"/>
+		<param name="controller_frequency" value="10.0" />
 		<rosparam file="$(find wild_thumper)/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
 		<rosparam file="$(find wild_thumper)/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
 		<rosparam file="$(find wild_thumper)/config/global_costmap_params.yaml" command="load" unless="$(arg nomap)" />