X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=launch%2Fmove_base.launch;h=3c1880d8d4ae09f3cb55a9c49ae91ed4d6db21db;hp=102f98dadb2639e63b42d40eadbc31c4e7a0f826;hb=47414c87ea933baa2f6b16d30acaca48b7636af2;hpb=4a05173d99461579ee20e47c15e49bf55201c0c6

diff --git a/launch/move_base.launch b/launch/move_base.launch
index 102f98d..3c1880d 100644
--- a/launch/move_base.launch
+++ b/launch/move_base.launch
@@ -17,7 +17,7 @@
 	<node pkg="gmapping" type="slam_gmapping" name="slap_gmapping" if="$(arg slam_gmapping)">
 		<param name="scan" value="scan" />
 		<param name="delta" value="0.01" />
-		<param name="map_update_interval" value="30" />
+		<param name="map_update_interval" value="5.0" />
 		<param name="linearUpdate" value="0.5" />
 		<param name="angularUpdate" value="0.25" />
 		<param name="xmin" value="-5.0"/>
@@ -25,6 +25,11 @@
 		<param name="xmax" value="5.0"/>
 		<param name="ymax" value="5.0"/>
 		<param name="odom_frame" value="odom"/>
+		<param name="maxUrange" value="6.0"/>
+		<param name="maxRange" value="8.0"/>
+		<param name="minimumScore" value="200"/>
+		<param name="linearUpdate" value="0.5"/>
+		<param name="particles" value="80"/>
 	</node>
 
 	<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">