X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=launch%2Fmove_base.launch;h=55869892142fc79c96398b5cd4447336485f079d;hp=c68413a02804cd4909f035c94f50e95a4a5e1897;hb=b7f9609e60bd234f15b253901eaa1c3e462cc5b1;hpb=da459c585c5e76c08dab0ef8d31be63a95e99ed1

diff --git a/launch/move_base.launch b/launch/move_base.launch
index c68413a..5586989 100644
--- a/launch/move_base.launch
+++ b/launch/move_base.launch
@@ -16,9 +16,9 @@
 			<param name="base_frame_id" value="base_footprint" />
 			<param name="odom_model_type" value="diff-corrected" />
 			<!-- Specifies the expected noise in odometry's rotation estimate from the rotational component of the robot's motion. -->
-			<param name="odom_alpha1" value="0.00001" />
+			<param name="odom_alpha1" value="0.001" />
 			<!-- Specifies the expected noise in odometry's rotation estimate from translational component of the robot's motion. -->
-			<param name="odom_alpha2" value="0.00001" />
+			<param name="odom_alpha2" value="0.001" />
 			<!-- Specifies the expected noise in odometry's translation estimate from the translational component of the robot's motion. -->
 			<param name="odom_alpha3" value="0.04" />
 			<!-- Specifies the expected noise in odometry's translation estimate from the rotational component of the robot's motion. -->