explore.launch 604 Bytes
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<launch>
<node pkg="explore_lite" type="explore" respawn="false" name="explore" output="screen">
  <param name="robot_base_frame" value="base_link"/>
  <param name="costmap_topic" value="/homer_mapping/slam_map"/>
  <param name="visualize" value="true"/>
  <param name="planner_frequency" value="0.33"/>
  <param name="progress_timeout" value="30.0"/>
  <param name="potential_scale" value="3.0"/>
  <param name="orientation_scale" value="0.0"/>
  <param name="gain_scale" value="1.0"/>
  <param name="transform_tolerance" value="0.3"/>
  <param name="min_frontier_size" value="0.75"/>
</node>
</launch>