X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=launch%2Fmove_base.launch;h=3c1880d8d4ae09f3cb55a9c49ae91ed4d6db21db;hp=30f7ff1118caaa7e93aa8b51df49f12c7630f3f9;hb=47414c87ea933baa2f6b16d30acaca48b7636af2;hpb=e5d50b6babe986a2dcd4eff47a9600a6014e5d96

diff --git a/launch/move_base.launch b/launch/move_base.launch
index 30f7ff1..3c1880d 100644
--- a/launch/move_base.launch
+++ b/launch/move_base.launch
@@ -8,16 +8,16 @@
 	<!-- Run AMCL -->
 	<group unless="$(arg nomap)">
 		<!-- Run the map server -->
-		<node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" unless="$(arg slam_gmapping)" />
+		<node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" output="screen" unless="$(arg slam_gmapping)" />
 
 		<include file="$(find amcl)/examples/amcl_diff.launch" unless="$(arg slam_gmapping)" />
 		<param name="amcl/base_frame_id" value="base_footprint" />
 	</group>
 
-	<node pkg="gmapping" type="slam_gmapping" name="slap_gmapping" output="screen" if="$(arg slam_gmapping)">
+	<node pkg="gmapping" type="slam_gmapping" name="slap_gmapping" if="$(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">