16 lines
701 B
Plaintext
16 lines
701 B
Plaintext
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<launch>
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<node pkg="explore_lite" type="explore" respawn="false" name="explore" output="screen">
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<param name="robot_base_frame" value="base_link"/>
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<param name="costmap_topic" value="move_base/global_costmap/costmap"/>
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<param name="costmap_updates_topic" value="move_base/global_costmap/costmap_updates"/>
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<param name="visualize" value="true"/>
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<param name="planner_frequency" value="0.33"/>
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<param name="progress_timeout" value="30.0"/>
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<param name="potential_scale" value="3.0"/>
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<param name="orientation_scale" value="0.0"/>
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<param name="gain_scale" value="1.0"/>
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<param name="transform_tolerance" value="0.3"/>
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<param name="min_frontier_size" value="0.5"/>
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</node>
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</launch>
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