X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=launch%2Fmove_base.launch;h=9c6755d01a66ed35711e20b0aefe6af19e26d08c;hp=f2fd7330fcbd6d14dc28ab36f0f5cc832fbf315e;hb=e8230ee2c5fdd15175bce8ba99df2b686b56306d;hpb=54a59e74352041bdda72f2eea2cab24683f0e16a

diff --git a/launch/move_base.launch b/launch/move_base.launch
index f2fd733..9c6755d 100644
--- a/launch/move_base.launch
+++ b/launch/move_base.launch
@@ -25,9 +25,9 @@
 			<!-- How many evenly-spaced beams in each scan to be used when updating the filter. -->
 			<param name="laser_max_beams" value="50" />
 			<!-- Exponential decay rate for the slow average weight filter, used in deciding when to recover by adding random poses. -->
-			<param name="recovery_alpha_slow" value="0.01" />
+			<param name="recovery_alpha_slow" value="0.001" />
 			<!-- Exponential decay rate for the fast average weight filter, used in deciding when to recover by adding random poses. -->
-			<param name="recovery_alpha_fast" value="0.2" />
+			<param name="recovery_alpha_fast" value="0.1" />
 			<!-- Minimum allowed number of particles. -->
 			<param name="min_particles" value="100" />
 		</group>