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updated az3_mapping_robot_nav.launch

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matlabbe
2015-02-12 15:31:13 -05:00
parent b52d27e1ce
commit 0cc60103a5
2 changed files with 3 additions and 2 deletions
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launch/azimut3/az3_mapping_robot_nav.launch
+2 -1
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@@ -107,7 +107,7 @@
<!-- Throttling messages -->
<group ns="camera">
<node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap_ros/data_throttle camera_nodelet_manager" output="screen">
<param name="max_rate" type="double" value="2.0"/>
<param name="max_rate" type="double" value="4.0"/>
<remap from="rgb/image_in" to="rgb/image_rect_color"/>
<remap from="depth/image_in" to="depth_registered/image_raw"/>
@@ -126,6 +126,7 @@
<param name="decimation" type="int" value="4"/>
<param name="max_depth" type="double" value="6.0"/>
<param name="noise_filter_radius" type="double" value="0.05"/>
<param name="noise_filter_min_neighbors" type="int" value="10"/>
</node>
</group>
</launch>
launch/azimut3/config/base_local_planner_params.yaml
+1 -1
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@@ -7,7 +7,7 @@ TrajectoryPlannerROS:
# min_vel_x and max_rotational_vel were set to keep the ICR at
# minimal distance of 0.48 m.
# Basically, max_rotational_vel * rho_min <= min_vel_x
max_vel_x: 0.500
max_vel_x: 0.700
min_vel_x: 0.212
max_rotational_vel: 0.550
min_in_place_rotational_vel: 0.15